Cooperative Control of Heterogeneous Connected Vehicles with Directed Acyclic Interactions
arXiv:1805.04304 · doi:10.1109/MITS.2018.2889654
Abstract
Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with directed acyclic interactions (characterized by directed acyclic graphs). In contrast to previous works that view heterogeneity as a type of uncertainty, this paper directly takes heterogeneity into account in the problem formulation, allowing us to develop a deeper understanding of the influence of heterogeneity on the collective behavior of a platoon of connected vehicles. Our major strategies include an application of the celebrated internal model principle and an exploitation of lower-triangular structures for platoons with directed acyclic interactions. The major findings include: 1) we explicitly highlight the tracking ability of heterogeneous platoons, showing that the followers can only track the leader's spacing and velocity; 2) we analytically derive a stability region of feedback gains for platoons with directed acyclic interactions; 3) and consequently we propose a synthesis method based on the solution to an algebraic Riccati equation that shares the dimension of single vehicle dynamics. Numerical experiments are carried out to validate the effectiveness of our results.
arXiv comment12 pages, 8 figures. To appear at IEEE ITSM
References in corpus (4)
- Distributed Model Predictive Control for Heterogeneous Vehicle Platoons under Unidirectional Topologies
- Mistuning-based Control Design to Improve Closed-Loop Stability of Vehicular Platoons
- Platooning of Connected Vehicles with Undirected Topologies: Robustness Analysis and Distributed H-infinity Controller Synthesis
- Nonzero bound on Fiedler eigenvalue causes exponential growth of H-infinity norm of vehicular platoon