Decoupled robust control of vehicular platoon with identical controller and rigid information flow
详细信息 查看全文
- 作者：F. Gao ; D. F. Dang ; S. S. Huang ; S. E. Li
- 关键词：Key WordsVehicular platoon ; Robust control ; Decoupled control ; Robust stability
- 刊名：International Journal of Automotive Technology
- 出版年：2017
- 出版时间：February 2017
- 年：2017
- 卷：18
- 期：1
- 页码：157-164
- 全文大小：920 KB
- 刊物类别：Engineering
- 刊物主题：Automotive and Aerospace Engineering and Traffic
- 出版者：The Korean Society of Automotive Engineers
- ISSN：1976-3832
- 卷排序：18
文摘
Platoon driving has potential to significantly benefit road traffic. This study presents a decoupled robust control strategy for a vehicular platoon with identical feedback controller and rigid information topology. The node dynamics of vehicle with a lower-level controller is assumed to be covered by a multiplicative uncertainty model. The vehicular platoon control system is skillfully decomposed into an uncertain part and a diagonal system by applying linear transformation and eigenvalue decomposition on information flow graph. Then the requirements of robust stability and distance tracking error are equivalent to the H-infinity norm of decoupled sub-systems. Comparative simulations with a non-robust controller and different communication topologies are conducted to demonstrate the robust stability and distance tracking performances of the proposed method.