Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delays
Journal article, 2016
This paper presents a novel control design framework for vehicle platooning together with its experimental validation. The problem of controlling the vehicles within a platoon, so that they converge to their desired velocities and intervehicle distances, is formulated as a high-order network consensus problem. By means of Lyapunov-Razumikhin functions, convergence is proven of the platoon to the desired consensus speed and intervehicle spacing under both fixed and switching communication network topologies, thus confirming the capability of the proposed approach to cope with maneuvers where vehicles join or leave the platoon and communication failures. Tuning criteria for the control gains are provided to guarantee string stability under the proposed control law. Finally, results of numerical simulations and in-vehicle experiments demonstrate the effectiveness of the proposed approach in a three-vehicle platoon.
multiagent
consensus control
automated vehicles
leader-following consensus
communication delays
cooperative driving challenge
control
Engineering
switching topology
stability
networks
longitudinal
disturbance propagation
switching topology
vehicle
intelligent vehicles
Automation & Control Systems
delay
systems
Automotive applications
Author
M. di Bernardo
University of Bristol
Universita degli Studi di Napoli Federico II
Paolo Falcone
Chalmers, Signals and Systems, Systems and control
A. Salvi
Universita degli Studi di Napoli Federico II
S. Santini
Universita degli Studi di Napoli Federico II
IEEE Transactions on Control Systems Technology
1063-6536 (ISSN)
Vol. 24 2 413-427Areas of Advance
Transport
Subject Categories (SSIF 2011)
Vehicle Engineering
DOI
10.1109/tcst.2015.2437336