Achieving an L2 string stable one vehicle look-ahead platoon with heterogeneity in time-delays
conference paper
A methodology is proposed to design stabilising and robust fixed-order decentralised controllers for heterogeneous vehicular platoons with Cooperative Adaptive Cruise Control (CACC). We consider Linear Time Invariant (LTI) models with constant time-delays at state, input and output. The closed-loop systems of (identical) local controllers and heterogeneous parameter vehicles are modelled by a system of delay differential algebraic equations. The proposed frequency domain approach uses the non-conservative direct optimisation approach towards stabilisation and robustness optimisation of delay systems. In this paper, the design problem of stabilising (identical) controllers achieving mathcal{L}{2} string stability for one vehicle look-ahead platoon is reduced to a simultaneous controller design problem for a parameterised (sub)system, where the allowable values of the parameters correspond to heterogeneity (including time-delays) of the vehicles. By treating the heterogeneity in parameters as perturbations contained in specific intervals or regions, we determine the values for pseudo-spectral abscissa and robust induced mathcal{L}{2} norm. Hence, we ensure that the achieved exponential stability and string stability properties along with the overall computational complexity (of designing the controller) are independent of the number of vehicles. The application of CACC is simulated in MATLAB software.
Topics
TNO Identifier
869351
ISBN
978-390714400-8
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
8796064
Source title
2019 18th European Control Conference, ECC 2019, 18th European Control Conference, ECC 2019, 25 June 2019 through 28 June 2019
Pages
1220-1226
Files
To receive the publication files, please send an e-mail request to TNO Repository.