Synthesis of Output-Feedback Controllers for Mixed Traffic Systems in Presence of Disturbances and Uncertainties

In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human-driven vehicles (HDVs) together with only one connected and automated vehicle (CAV) that receives information from a su...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2023-06, Vol.24 (6), p.6450-6462
Main Authors: Mousavi, Shima Sadat, Bahrami, Somayeh, Kouvelas, Anastasios
Format: Article
Language:English
Subjects:
Acceleration
Car following
Control methods
Control systems
Controllability
Deceleration
Disturbances
Feedback control
Mathematical models
Mixed traffic systems
open-road
Output feedback
Perturbation methods
Platooning
ring-road
Roads
Robust control
robust H∞ controller
stabilizability and detectability
System dynamics
Traffic control
Traffic flow
Uncertainty
Vehicle dynamics
Vehicle-to-everything
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Summary:In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human-driven vehicles (HDVs) together with only one connected and automated vehicle (CAV) that receives information from a subset of neighbors. The dynamics of HDVs are assumed to follow a general continuous-time nonlinear car-following model, which is a function of their velocity, spacing, and the relative velocity. The acceleration of the single CAV is also directly controlled by a dynamical output-feedback controller. The ultimate goal of this work is to present a robust control strategy that can smoothen the traffic flow in the presence of undesired disturbances (e.g. abrupt deceleration) and parametric uncertainties. A prerequisite for synthesizing a dynamical output controller is the stabilizability and detectability of the underlying system. Accordingly, a theoretical analysis is presented first to prove the stabilizability and detectability of the mixed traffic flow system. Then, two H_\infty control strategies, with and without considering uncertainties in the system dynamics, are designed. The efficiency of the two control methods is subsequently illustrated through numerical simulations, and various experimental results are presented to demonstrate the effectiveness of the proposed controller to mitigate disturbance amplification and achieve platoon stability.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2022.3185155