Platooning of Connected Vehicles with Undirected Topologies: Robustness Analysis and Distributed H-infinity Controller Synthesis

Abstract

This paper considers the robustness analysis and distributed ${\mathcal{H}}_{\infty }$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the collective behavior of homogeneous platoons with external disturbances using graph theory. By exploiting the spectral decomposition of a symmetric matrix, the collective dynamics of a platoon is equivalently decomposed into a set of subsystems sharing the same size with one single vehicle. Then, we provide an explicit scaling trend of robustness measure $\gamma$-gain, and introduce a scalable multi-step procedure to synthesize a distributed ${\mathcal{H}}_{\infty }$ controller for large-scale platoons. It is shown that communication topology, especially the leader's information, exerts great influence on both robustness performance and controller synthesis. Further, an intuitive optimization problem is formulated to optimize an undirected topology for a platoon system, and the upper and lower bounds of the objective are explicitly analyzed, which hints us that coordination of multiple mini-platoons is one reasonable architecture to control large-scale platoons. Numerical simulations are conducted to illustrate our findings.

12 pages, 8 figures. Accepted in the IEEE Transactions on Intelligent Transportation Systems

References in corpus (1)

• Distributed Model Predictive Control for Heterogeneous Vehicle Platoons under Unidirectional Topologies

Cited by in corpus (9)

• Cooperative Control of Heterogeneous Connected Vehicles with Directed Acyclic Interactions
• Controllability Analysis and Optimal Control of Mixed Traffic Flow with Human-driven and Autonomous Vehicles
• A Review on Cooperative Adaptive Cruise Control (CACC) Systems: Architectures, Controls, and Applications
• Cooperative Decision Making of Connected Automated Vehicles at Multi-lane Merging Zone: A Coalitional Game Approach
• On Symmetric Gauss-Seidel ADMM Algorithm for ${\mathcal{H}}_{\infty }$ Guaranteed Cost Control with Convex Parameterization
• Monitoring Link Faults in Nonlinear Diffusively-coupled Networks
• Model-Free Practical Cooperative Control for Diffusively Coupled Systems
• Performance Analysis of Optimally Coordinated Connected and Automated Vehicles in a Mixed Traffic Environment
• An Output Containment Approach to Cooperative Control of Multiple Unmanned and Manned Vehicles