Decoupled robust control of vehicular platoon with identical controller and rigid information flow
Decoupled robust control of vehicular platoon with identical controller and rigid information flow
- Neue Suche nach: Gao, F.
- Neue Suche nach: Dang, D. F.
- Neue Suche nach: Huang, S. S.
- Neue Suche nach: Li, S. E.
- Neue Suche nach: Gao, F.
- Neue Suche nach: Dang, D. F.
- Neue Suche nach: Huang, S. S.
- Neue Suche nach: Li, S. E.
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.
Dokumentinformationen
Decoupled robust control of vehicular platoon with identical controller and rigid information flow
2016
Aufsatz (Zeitschrift)
Englisch
| BKL: | 55.20$jStraßenfahrzeugtechnik / 55.20 Straßenfahrzeugtechnik |
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