Robust Coordinated Control of Nonlinear Heterogeneous Platoon Interacted by Uncertain Topology

To simultaneously deal with the uncertain interaction topology, parametric errors and external disturbances, this paper proposes a new coordinated control scheme for the platoon composed of nonlinear and heterogeneous automated vehicles (AVs). In this scheme, different perturbations are dealt with s...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2022-06, Vol.23 (6), p.4982-4992
Main Authors: Feng, Gao, Dang, Dongfang, He, Yingdong
Format: Article
Language:English
Subjects:
Control theory
Decomposition
Decoupling
decoupling analysis
Design parameters
Disturbances
Dynamical systems
Dynamics
Eigenvalues
Eigenvalues and eigenfunctions
Information flow
Linear matrix inequalities
Linear transformations
Nonlinear control
Numerical stability
Perturbation
Platoon driving
Robust control
Sliding mode control
Subsystems
Topology
Uncertainty
Vehicle dynamics
vehicle to vehicle communication
Wireless communication
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Summary:To simultaneously deal with the uncertain interaction topology, parametric errors and external disturbances, this paper proposes a new coordinated control scheme for the platoon composed of nonlinear and heterogeneous automated vehicles (AVs). In this scheme, different perturbations are dealt with separately to reduce the contraction among them by using the sliding mode control theory. Considering the individual dynamics, a distributed coordinated controller including both lateral and longitudinal motions is designed for each AV with online estimation of the unknown parameters and disturbances. On the sliding surfaces of longitudinal motion, a decoupling approach using the eigenvalue decomposition of topological matrix and linear transformation is proposed to deal with the topological uncertainty. Then the dynamical system of platoon coupled by the information flow is decomposed into the subsystems with lower order. The relationship of the robust performance between the original and decoupled system is analyzed theoretically. Based on this theoretical conclusion, a numerical way is given based on linear matrix inequality (LMI) theory to design the parameters of sliding motion dynamics. By this way, the exact topological matrix is not necessary and only the bound of its eigenvalue is required. The effectiveness of the proposed strategy is validated by several comparative simulations under variety conditions.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2020.3045107