In this paper the problem of decentralized switching control of a platoon of vehicles in the presence of heterogeneous time-varying communication and parasitic delays is investigated. A neighbor-based linear decentralized controller using the relative measurements is considered for each vehicle. The communication structure of the platoon is assumed to be time-varying. Therefore, the closed-loop dynamics of the platoon is in the form of switched linear multiple-delay systems. Compared to previous research, the communication structure of the platoon is assumed to be general. A safe and dense spacing policy is used to adjust inter-vehicle distances. The internal stability analysis of the platoon is done by employing Lyapunov–Razumikhin and Lyapunov–Krasovskii theorems. Afterwards, some conditions on control parameters assuring string stability are obtained by introducing a new theorem. Simulation studies are carried out to show the effectiveness of the proposed methods.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Switching decentralized control of a platoon of vehicles with time-varying heterogeneous delay: A safe and dense spacing policy


    Contributors:


    Publication date :

    2018-07-01


    Size :

    11 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Decentralized Suboptimal LQ Control of a Platoon of Vehicles

    Stankovic, S. S. / Stanojevic, M. / Siljak, D. D. et al. | British Library Conference Proceedings | 1997



    Stability of platoon of adaptive cruise control vehicles with time delay

    Hu, San Gen / Wen, Hui Ying / Xu, Lunhui et al. | Taylor & Francis Verlag | 2019


    Decoupled Control of Vehicular Platoon with Heterogeneous Communication Delay

    Liu, Bao / Yang, Cai / Gao, Feng et al. | SAE Technical Papers | 2018