期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 71, 期 6, 页码 5755-5769出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2022.3153562
关键词
Heterogeneous vehicle platoon; stochastic stable control; switching topologies; disturbance; string stability
资金
- National Natural Science Foundation of China [52025121, 51975118, 52002066]
- Foundation of State Key Laboratory of Automotive Simulation and Control of China [20210104]
- Foundation of State Key Laboratory of Automobile Safety and Energy Saving of China [KFZ2201, KFY2215]
This paper presents a stochastic stable control protocol for heterogeneous vehicle platoon subject to communication topologies change, external disturbance, and information delay. The protocol considers the random variation of data transmission among the platoon, as well as factors like delay in wireless communication and external interferences. The proposed control approach ensures the stability of the platoon even in the continuous mutation of unstable topologies.
This paper presents a stochastic stable control protocol for heterogeneous vehicle platoon subject to communication topologies change, external disturbance, and information delay. First, a random vehicle platoon system composed entirely of several pure electric vehicles is built. The random variation of data transmission link among the platoon in a natural traffic environment is considered and molded by the Markov chain combined with the directed graph method. The influence of delays and discrete data in wireless communication, road slope, and air resistance on the vehicle platoon is also considered by introducing the external interferences and equivalent information delays. Additionally, to ensure the vehicle platoon's inner-vehicle stability, the variable-gain distributed controller is proposed based on the Markovian jumping system stability theory and H-infinity control. Finally, the L-2 stochastic string stability is defined to attenuate perturbations as they propagate through the platoon. Simulation studies about a vehicle platoon under four communication topologies random switching with two different control methods are provided to verify the theoretical result. It is shown that, compared to traditional platoon robust control, it is possible to achieve the vehicle platoon's stability even if in the continuous mutation of unstable topologies by using the proposed control approach.
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