Distributed Consensus Control of Vehicular Platooning Under Delay, Packet Dropout and Noise: Relative State and Relative Input-Output Control Strategies

Abstract

In this article, we study the distributed control problem of vehicular platooning by taking into account network imperfections, namely the input delay and the packet dropout. The delay occurs within the inter network of each vehicle from its controller to its actuators and the packet dropout occurs within the intra network of vehicles when information is exchanged between vehicles. Relative state-feedback and relative input-output feedback control strategies are adopted for the vehicular platooning under network imperfection. To this end, and to avoid the requirement of relative state information, the relative state measurements are constructed for platoon systems based on a distributed observer via only relative input-output measurements and in the presence of delay, packet dropout and noise. Conditions for synchronization are provided in terms of the unique positive-definite solutions to some algebraic Riccati equations. Simulations validate the theoretical results.