Abstract
Platoon driving has potential to significantly benefit road traffic. This study presents a decoupled robust control strategy for a vehicular platoon with identical feedback controller and rigid information topology. The node dynamics of vehicle with a lower-level controller is assumed to be covered by a multiplicative uncertainty model. The vehicular platoon control system is skillfully decomposed into an uncertain part and a diagonal system by applying linear transformation and eigenvalue decomposition on information flow graph. Then the requirements of robust stability and distance tracking error are equivalent to the H-infinity norm of decoupled sub-systems. Comparative simulations with a non-robust controller and different communication topologies are conducted to demonstrate the robust stability and distance tracking performances of the proposed method.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Bierzychudek, M., Sanchez-Pena, R. and Tonina, A. (2013). Robust control of a two-terminal cryogenic current comparator. IEEE Trans. Instrumentation and Measurement 62, 6, 1736–1742.
Caveney, D. (2010). Cooperative vehicular safety applications. IEEE Control System Magazine 30, 4, 38–53.
Chan, E., Gilhead, P., Jelinek, P., Krejci, P. and Robinson, T. (2012). Cooperative control of SARTRE automated platoon vehicles. Proc. 19th ITS World Cong., 1–9.
Dunbar, W. and Caveney, D. (2012). Distributed receding horizon control of vehicle platoons: Stability and string stability. IEEE Trans. Automatic Control 57, 3, 620–633.
Fax, A. and Murray, R. M. (2004). Information flow and cooperative control of vehicle formations. IEEE Trans. Automatic Control, 49, 1465–1476.
Gao, F. and Li, K. Q. (2007). Hierarchical switching control of longitudinal acceleration with large uncertainties. Int. J. Automotive Technology 8, 3, 351–359.
Gao, F., Li, S. E., Kum, D. and Zhang, H. (2015). Synthesis of multiple model switching controllers using theory for systems with large uncertainties. Neurocomputing, 157, 118–124.
Gao, F., Li, S. E., Zheng, Y. and Kum, D. (2016). Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay. IET Intelligent Transport Systems, 10.1049/iet-its.2015.0205.
Gao, F., Li, X. P. and Ming, G. Q. (2014). Adaptive speed control under vehicle and road uncertainties using multiple model approach. Proc. American Control Conf., Portland, 897–902.
Guo, G. and Yue, W. (2012). Autonomous platoon control allowing range-limited sensors. IEEE Trans. Vehicular Technology 61, 7, 2901–2912.
Herman, I., Martinec, D., Hurak, Z. and Sebek, M. (2014). Harmonic instability of asymmetric bidirectional control of a vehicular platoon. Proc. American Control Conf., 5396–5401.
Higashimata, A. and Adachi, K. K. (2001). Design of a headway distance control system for ACC. JSAE Review 22, 1, 15–22.
Horn, R. A. and Johnson, C. R. (2012). Matrix Analysis. Cambridge University Press. Cambridge, UK.
Kianfar, R., Augusto, B., Ebadighajari, A. and Hakeem, U. (2012). Design and experimental validation of a cooperative driving system in the grand cooperative driving challenge. IEEE Trans. Intelligent Transportation Systems 13, 3, 994–1007.
Li, S. B., Gao, F., Cao, D. and Li, K. Q. (2016). Multiple model switching control of vehicle longitudinal dynamics for platoon level automation. IEEE Trans. Vehicular Technology, 10.1109/TVT.2016.25412.
Luettel, T., Himmelsbach, M. and Wuensche, J. (2012). Autonomous ground vehicles-Concepts and a path to the future. Proc. IEEE 100, Special Centennial Issue, 1831–1839.
Nag, A., Patel, S., Kishore, K. and Akbar, S. A. (2013). A robust based depth control of an autonomous underwater vehicle. Proc. Int. Conf. Advanced Electronic Systems (ICAES), 68–73.
Naus, G., Vugts, R., Ploeg, J., Van, D. and Steinbuch, M. (2010). String-stable CACC design and experimental validation: A frequency domain approach. IEEE Trans. Vehicular Technology 59, 9, 4268–4279.
Nemeth, B. and Gaspar, P. (2010). Road conditions in the design of vehicle speed control using the LPV method. Proc. 18th Mediterranean Conf. Control & Automation (MED).
Olfati-Saber, R. and Murray, R. (2004). Consensus problems in networks of agents with switching topology and timedelays. IEEE Trans. Automatic Control, 1520–1533.
Ploeg, J., Serrarens, A. F. and Heijenk, G. (2011). Connect & Drive: Design and evaluation of cooperative adaptive cruise control for congestion reduction. J. Modern Transportation, 207–213.
Rajamani, R., Choi, S. B., Law, B. K., Hedrick, J. K. and Rrohaska, R. (2000). Design and experimental implementation of longitudinal control for a platoon of automated vehicles. J. Dynamic Systems Measurement and Control 122, 3, 470–476.
Shaw, E. and Hedrick, J. (2007). String stability analysis for heterogeneous vehicle strings. Proc. American Control Conf., 3118–3125.
Shladover, S., Desoer, C., Hedrick, J., Tomizuka, M. and Walrand, J. (1991). Automated vehicle control developments in the PATH program. IEEE Trans. Vehicular Technology, 40, 114–130.
Stankovic, S., Stanojevic, M. and Siljak, D. (2000). Decentralized overlapping control of a platoon of vehicles. IEEE Trans. Control System Technology, 8, 816–831.
Swaroop, D., Hedrick, J. K. and Chien, C. C. (1994). A comparison of spacing and headway control laws for automatically controlled vehicles. Vehicle System Dynamics 23, 8, 597–625.
Swaroop, D. and Hedrick, J. K. (1999). Constant spacing strategies for platooning in automated highway systems. ASME J. Dynamic System Measure and Control, 121, 462–470.
Tsugawa, S., Kato, S. and Aoki, K. (2011). An automated truck platoon for energy saving. Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 4109–4114.
Willke, T. L., Tientrakool, P. and Maxemchuk, N. F. (2009). A survey of inter-vehicle communication protocols and their applications. IEEE Trans. Communications Surveys & Tutorials 11, 2, 3–20.
Xiao, L. Y. and Cao, F. (2011). Practical string stability of platoon of adaptive cruise control vehicles. IEEE Trans. Intelligent Transportation System 12, 4, 1184–1194.
Yadlapalli, S. K., Darbha, S. and Rajagopal, K. R. (2006). Information flow and its relation to stability of the motion of vehicles in a rigid formation. IEEE Trans. Automatic Control 51, 8, 1315–1319.
Yamamura, Y. and Seto, Y. (2008). An ACC design method for achieving both string stability and ride comfort. J. System Design and Dynamics 2, 4, 979–990.
Zhang, J., Wang, F. Y., Wang, K., Lin, W., Xu, X. and Chen, C. (2011). Data-driven intelligent transportation systems: A survey. IEEE Trans. Intelligent Transportation System 12, 4, 1624–1639.
Zheng, Y., Li, S., Wang, J. and Wang, L. Y. (2014). Influence of information flow topology on closed-loop stability of vehicle platoon with rigid formation. Proc. 17th Int. Conf. Intelligent Transportation System Conf., 2094–2100.
Zhou, J. and Peng, H. (2005). Range policy of adaptive cruise control vehicle for improved flow stability and string stability. IEEE Trans. Intelligent Transportation System 6, 2, 229–237.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Gao, F., Dang, D.F., Huang, S.S. et al. Decoupled robust control of vehicular platoon with identical controller and rigid information flow. Int.J Automot. Technol. 18, 157–164 (2017). https://doi.org/10.1007/s12239-017-0016-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-017-0016-6