Abstract
The application of wireless communication to platooning brings such challenges as information delay and varieties of interaction topologies. To compensate for the information delay, a state predictor based control strategy is proposed, which transmits the future information of nodes instead of current values. Based on the closed loop dynamics of platoon with state predictor and feedback controller, a decoupling strategy is presented to analysis and design the platoon control system with lower order by adopting the eigenvalue decomposition of topological matrix. A numerical method based on LMI (Linear Matrix Inequality) is provided to find the required robust performance controller. Moreover, the influence of information delay on performance is studied theoretically and it is found that the tolerable maximum delay is determined by the maximum topological eigenvalue. The effectiveness of the proposed strategy is validated by several comparative simulations under various conditions with other methods.
Highlights
IntroductionCompanies and governments are devoted to solving these issues and one of these technologies is called platooning, that is, a coordinated motion of a group of vehicles with the same destination and speed (referring to the leader) [2,3]
The problem of traffic congestion, safety and pollution is getting increasingly serious [1].Worldwide researchers, companies and governments are devoted to solving these issues and one of these technologies is called platooning, that is, a coordinated motion of a group of vehicles with the same destination and speed [2,3]
Over the past 30 years, wireless communication has experienced rapid development, lots of new V2V technologies appear, for example, vehicular ad-hoc network and dedicated short range communication [14,15]. Besides such assistance systems as collision warning at intersection, V2V has been applied to platooning, which brings the benefit of better performances but leads to varieties of information topologies, for example, the bidirectional type (BD), two-predecessors following type (TPF), predecessor-leader following type (PLF) and so forth. [11,12]
Summary
Companies and governments are devoted to solving these issues and one of these technologies is called platooning, that is, a coordinated motion of a group of vehicles with the same destination and speed (referring to the leader) [2,3] By this way, the air drag is reduced greatly, the traffic flow is increased due to the smaller car-following distance. Over the past 30 years, wireless communication has experienced rapid development, lots of new V2V technologies appear, for example, vehicular ad-hoc network and dedicated short range communication [14,15] Besides such assistance systems as collision warning at intersection, V2V has been applied to platooning, which brings the benefit of better performances but leads to varieties of information topologies, for example, the bidirectional type (BD), two-predecessors following type (TPF), predecessor-leader following type (PLF) and so forth. It is known that delay will cause platoon to be degraded and even string instable [16]
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