Abstract
This paper proposes a new, robust time-delay cooperative adaptive cruise control (CACC) approach for vehicle platooning systems with uncertain dynamics and varying communication delay. The uncertain CACC models with perturbed parameters are used to describe the uncertain dynamics of the vehicle platooning system. By combining the constant time headway strategy and predecessor-following communication topology, a set of robust delay feedback controllers is designed for the uncertain vehicle platoon with varying communication delay. Then, the set of CACC controllers is computed by solving some linear matrix inequalities, which further establish the robust (string) stability of the uncertain platooning system with the varying communication delay. The co-simulation experiment of CarSim and Simulink with a group of a seven-car platoons and varying velocity is used to demonstrate the effectiveness of the presented method.
Highlights
Cooperative adaptive cruise control of a group of connected and automated vehicles (CAVs) has attracted considerable attention in both industrial and academic communities
cooperative adaptive cruise control (CACC) systems with uncertain dynamics and heterogeneous communication delay are modeled as a family of uncertain car-following models with perturbed parameters and varying time-delay
We presented a new robust cooperative adaptive cruise control method for vehicle platoons subject to parametric uncertainties and varying communication delay
Summary
Cooperative adaptive cruise control of a group of connected and automated vehicles (CAVs) has attracted considerable attention in both industrial and academic communities. The V2X network has important effects on the (string) stability of vehicular CACC systems due to varying communication delays [3]. The author in [24] proposed a distributed consensus strategy for control of the vehicle platoon represented by second order integral systems with varying heterogeneous communication delay. Considering parametric uncertainties and uniform communication delay, in [30], the robust H∞ control method was introduced for vehicle platoons with fully networked bidirectional control structure and the constant distance headway strategy. The aim of this paper is to solve robust CACC problems in the networked control framework by taking into account parametric uncertainties and heterogeneous communication delay. CACC systems with uncertain dynamics and heterogeneous communication delay are modeled as a family of uncertain car-following models with perturbed parameters and varying time-delay.
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