Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay

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dc.contributor.authorGao, Fengko
dc.contributor.authorLi, Shengbo Ebenko
dc.contributor.authorZheng, Yangko
dc.contributor.authorKum, Dongsukko
dc.date.accessioned2016-11-09T02:52:09Z-
dc.date.available2016-11-09T02:52:09Z-
dc.date.created2016-10-05-
dc.date.created2016-10-05-
dc.date.issued2016-09-
dc.identifier.citationIET INTELLIGENT TRANSPORT SYSTEMS, v.10, no.7, pp.503 - 513-
dc.identifier.issn1751-956X-
dc.identifier.urihttp://hdl.handle.net/10203/213584-
dc.description.abstractPlatoon 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-
dc.languageEnglish-
dc.publisherINST ENGINEERING TECHNOLOGY-IET-
dc.subjectADAPTIVE CRUISE CONTROL-
dc.subjectAUTOMATED HIGHWAY SYSTEMS-
dc.subjectLONGITUDINAL CONTROL-
dc.subjectVEHICLES-
dc.subjectDESIGN-
dc.subjectSTABILITY-
dc.titleRobust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay-
dc.typeArticle-
dc.identifier.wosid000382791200006-
dc.identifier.scopusid2-s2.0-84982162819-
dc.type.rimsART-
dc.citation.volume10-
dc.citation.issue7-
dc.citation.beginningpage503-
dc.citation.endingpage513-
dc.citation.publicationnameIET INTELLIGENT TRANSPORT SYSTEMS-
dc.identifier.doi10.1049/iet-its.2015.0205-
dc.contributor.localauthorKum, Dongsuk-
dc.contributor.nonIdAuthorGao, Feng-
dc.contributor.nonIdAuthorLi, Shengbo Eben-
dc.contributor.nonIdAuthorZheng, Yang-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorrobust control-
dc.subject.keywordAuthoruncertain systems-
dc.subject.keywordAuthordelays-
dc.subject.keywordAuthorvehicle dynamics-
dc.subject.keywordAuthorroad safety-
dc.subject.keywordAuthorH control-
dc.subject.keywordAuthorlinear matrix inequalities-
dc.subject.keywordAuthorLyapunov methods-
dc.subject.keywordAuthorlinear quadratic control-
dc.subject.keywordAuthorautomobiles-
dc.subject.keywordAuthorrobust control-
dc.subject.keywordAuthorheterogeneous vehicular platoon formation-
dc.subject.keywordAuthorhighway vehicles-
dc.subject.keywordAuthorroad safety enhancement-
dc.subject.keywordAuthorhighway utility improvement-
dc.subject.keywordAuthortraffic efficiency improvement-
dc.subject.keywordAuthorreal-world driving conditions-
dc.subject.keywordAuthorH-infinity control method-
dc.subject.keywordAuthoruncertain vehicle dynamics-
dc.subject.keywordAuthoruniform communication delay-
dc.subject.keywordAuthorstring stability-
dc.subject.keywordAuthorrobustness-
dc.subject.keywordAuthortracking performance-
dc.subject.keywordAuthorlinear fractional transformation format-
dc.subject.keywordAuthordelay-dependent LMI-
dc.subject.keywordAuthordistributed controllers-
dc.subject.keywordAuthorperformance analysis-
dc.subject.keywordAuthordelay-dependent Lyapunov function-
dc.subject.keywordAuthorlinear quadratic function-
dc.subject.keywordAuthordelay period-
dc.subject.keywordAuthorrandom parameters-
dc.subject.keywordAuthorexternal disturbances-
dc.subject.keywordPlusADAPTIVE CRUISE CONTROL-
dc.subject.keywordPlusAUTOMATED HIGHWAY SYSTEMS-
dc.subject.keywordPlusLONGITUDINAL CONTROL-
dc.subject.keywordPlusVEHICLES-
dc.subject.keywordPlusDESIGN-
dc.subject.keywordPlusSTABILITY-
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