RT Journal Article
A1 Feng Gao
AD School of Electrical Engineering, Chongqing University, Chongqing 400044, People's Republic of China
A1 Shengbo Eben Li
AD State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People's Republic of China
A1 Yang Zheng
AD State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People's Republic of China
A1 Dongsuk Kum
AD Cho Chun Shik Graduate School of Green Transportation, KAIST, Daejeon 34141, Republic of Korea

PB iet
T1 Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay
JN IET Intelligent Transport Systems
VO 10
IS 7
SP 503
OP 513
AB Platoon formation of highway vehicles has the potential to significantly enhance road safety, improve highway utility, and increase traffic efficiency. However, various uncertainties and disturbances that are present in real-world driving conditions make the implementation of vehicular platoon a challenging problem. This study presents an H-infinity control method for a platoon of heterogeneous vehicles with uncertain vehicle dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are systematically measured by the H-infinity norm, and explicitly satisfied by casting into the linear fractional transformation format. A delay-dependent linear matrix inequality is derived to numerically solve the distributed controllers for each vehicle. The performances of the controlled platoon are theoretically analysed by using a delay-dependent Lyapunov function which includes a linear quadratic function of states during the delay period. Simulations with a platoon of heterogeneous vehicles are conducted to demonstrate the effectiveness of the proposed method under random parameters and external disturbances.
K1 robust control
K1 delay-dependent LMI
K1 heterogeneous vehicular platoon formation
K1 highway utility improvement
K1 traffic efficiency improvement
K1 highway vehicles
K1 robustness
K1 uniform communication delay
K1 string stability
K1 performance analysis
K1 linear fractional transformation format
K1 H-infinity control method
K1 distributed controllers
K1 uncertain vehicle dynamics
K1 external disturbances
K1 random parameters
K1 real-world driving conditions
K1 delay period
K1 delay-dependent Lyapunov function
K1 linear quadratic function
K1 tracking performance
K1 road safety enhancement
DO https://doi.org/10.1049/iet-its.2015.0205
UL https://digital-library.theiet.org/;jsessionid=a5t1o0gdd90u0.x-iet-live-01content/journals/10.1049/iet-its.2015.0205
LA English
SN 1751-956X
YR 2016
OL EN