The platooning of automated vehicles has potential to significantly benefit road traffic, while its robust performance is less investigated especially considering increasing complexity of interaction topologies. This study presents a decoupled H∞ control method for automated vehicular platoon to comprehensively compromise multiple performances. The platoon control system is first decomposed into an uncertain part and a diagonal nominal system through the linear transformation, which is motivated by the eigenvalue decomposition of information topology. Based on this almost decoupled system, a distributed H∞ controller is presented, which can balance the performances of robustness and disturbance attenuation ability. Moreover, a numerical method is given to solve and optimise this controller by using linear matrix inequality approach. Several comparative hardware-in-loop tests of different communication topologies and controllers have been carried out to demonstrate the effectiveness of this method.
Decoupled H∞ control of automated vehicular platoons with complex interaction topologies
IET Intelligent Transport Systems ; 11 , 2 ; 92-101
2017-03-01
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
road vehicles , linear matrix inequality approach , complex interaction topologies , uncertain systems , linear transformation , eigenvalue decomposition , eigenvalues and eigenfunctions , robust performance , H<sup>∞</sup> control , diagonal nominal system , interaction topologies , distributed H<sub>∞</sub> controller , disturbance attenuation ability , topology , decoupled H<sub>∞</sub> control method , automated vehicular platoons , decoupled H<sub>∞</sub> control , linear matrix inequalities , road traffic , automated vehicular platoon , information topology
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