Robust Time-Delay Feedback Control of Vehicular CACC Systems with Uncertain Dynamics

This paper proposes a new, robust time-delay cooperative adaptive cruise control (CACC) approach for vehicle platooning systems with uncertain dynamics and varying communication delay. The uncertain CACC models with perturbed parameters are used to describe the uncertain dynamics of the vehicle plat...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2020-03, Vol.20 (6), p.1775
Main Authors: Song, Xiulan, Chen, Li, Wang, Ke, He, Defeng
Format: Article
Language:English
Subjects:
Communication
Communications systems
Computer simulation
Controllers
cooperative adaptive cruise control
Cooperative control
Cruise control
Delay
Design
Feedback control
Linear matrix inequalities
networked control systems
Parameter uncertainty
Platooning
Robust control
robust stability
string stability
Topology
vehicle platoons
Vehicles
Velocity
Wireless networks
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Summary:This paper proposes a new, robust time-delay cooperative adaptive cruise control (CACC) approach for vehicle platooning systems with uncertain dynamics and varying communication delay. The uncertain CACC models with perturbed parameters are used to describe the uncertain dynamics of the vehicle platooning system. By combining the constant time headway strategy and predecessor-following communication topology, a set of robust delay feedback controllers is designed for the uncertain vehicle platoon with varying communication delay. Then, the set of CACC controllers is computed by solving some linear matrix inequalities, which further establish the robust (string) stability of the uncertain platooning system with the varying communication delay. The co-simulation experiment of CarSim and Simulink with a group of a seven-car platoons and varying velocity is used to demonstrate the effectiveness of the presented method.
ISSN:1424-8220
1424-8220
DOI:10.3390/s20061775