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.
cooperative driving challenge
Automation & Control Systems
switching topology
leader-following consensus
automated vehicles
control
networks
stability
Engineering
vehicle
intelligent vehicles
Automotive applications
communication delays
multiagent
switching topology
systems
longitudinal
delay
consensus control
disturbance propagation
Author
M. di Bernardo
University of Naples Federico II
University of Bristol
Paolo Falcone
Chalmers, Signals and Systems, Systems and control
A. Salvi
University of Naples Federico II
S. Santini
University of Naples Federico II
IEEE Transactions on Control Systems Technology
1063-6536 (ISSN) 15580865 (eISSN)
Vol. 24 2 413-427 7134769Areas of Advance
Transport
Subject Categories
Vehicle Engineering
DOI
10.1109/tcst.2015.2437336