This article addresses the lateral and longitudinal control problem for vehicle platoons subject to multiple communication delays. The essential lateral control problem and different delays in search-based routes of the vehicular ad-hoc networks (VANET) are introduced to vehicle platoon control. We first design an objective-based decoupled lateral and longitudinal control framework for vehicle platoons. With the Frenet coordinate system, a robust controller for lateral control is established to ensure each follower vehicle tracks the desired path and remain within the platoon. For the longitudinal control, the longitudinal error dynamic of vehicle-$ i$ with a specific interacted vehicle-$ j$ is modeled. Furthermore, with an unknown interaction topology, the error dynamic is augmented as multiple low-dimensional subsystems instead of an high-dimensional platoon system. To accommodate the communication delays, we design a distributed robust controller based on the Lyapunov-Krasovskii function. In addition, a delay-tolerant controller design theorem is obtained with linear matrix inequalities (LMIs). Simulations are conducted to demonstrate the effectiveness and improvement of the proposed controllers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust Lateral and Longitudinal Control for Vehicle Platoons With Unknown Interaction Topology Subject to Multiple Communication Delays


    Beteiligte:
    Zhang, Nianhua (Autor:in) / Li, Xiang (Autor:in) / Chen, Jicheng (Autor:in) / Li, Hongbiao (Autor:in) / Nie, Yiming (Autor:in) / Zhang, Hui (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.10.2024


    Format / Umfang :

    4452953 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Longitudinal Control for Vehicle Platoons

    Rajamani, Rajesh | Springer Verlag | 2011


    Lateral Control of Vehicle Platoons

    Solyom, Stefan / Idelchi, Arash / Salamah, Badr Bin | IEEE | 2013


    A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays

    Na Chen / Meng Wang / Tom Alkim et al. | DOAJ | 2018

    Freier Zugriff

    LMI-based control of vehicle platoons for robust longitudinal guidance

    Maschuw, Jan P. / Keßler, Günter C. / Abel, D. | Tema Archiv | 2008