The platooning of automated vehicles has the potential to significantly benefit road traffic. This paper presents a distributed $\text{H}_{\mathrm {\infty }}$ control method for multi-vehicle systems with identical dynamic controllers and rigid formation geometry. After compensating for the powertrain nonlinearity, the node dynamics in a platoon is mathematically described by a multiplicative uncertainty model. The platoon control system is then decomposed into an uncertain part and a diagonal nominal system through linear transformation and eigenvalue decomposition of the information-exchange-topology matrix. Robust stability, string stability, and distance tracking performance of the designed platoons are analyzed theoretically under the decoupled $\text{H}_{\mathrm {\infty }}$ framework. A comparative simulation with non-robust controllers is used to demonstrate the effectiveness of this method.


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    Title :

    Robust Longitudinal Control of Multi-Vehicle Systems—A Distributed H-Infinity Method


    Contributors:
    Li, Shengbo Eben (author) / Gao, Feng (author) / Li, Keqiang (author) / Wang, Le-Yi (author) / You, Keyou (author) / Cao, Dongpu (author)


    Publication date :

    2018-09-01


    Size :

    2772451 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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