【文件属性】:
文件名称:Robust control of heterogeneous vehicular platoon with uncertain dynamics
文件大小:592KB
文件格式:PDF
更新时间:2021-09-19 05:10:32
heterogeneou
Platoon formation of highway vehicles has the potential to significantly enhance road safety, improve highway
utility, and increase traffic efficiency. However, various uncertainties and disturbances that are present in real-world
driving conditions make the implementation of vehicular platoon a challenging problem. This study presents an H-infinity
control method for a platoon of heterogeneous vehicles with uncertain vehicle dynamics and uniform communication
delay. The requirements of string stability, robustness and tracking performance are systematically measured by the Hinfinity
norm, and explicitly satisfied by casting into the linear fractional transformation format. A delay-dependent linear
matrix inequality is derived to numerically solve the distributed controllers for each vehicle. The performances of the
controlled platoon are theoretically analysed by using a delay-dependent Lyapunov function which includes a linear
quadratic function of states during the delay period. Simulations with a platoon of heterogeneous vehicles are conducted
to demonstrate the effectiveness of the proposed method under random parameters and external disturbances.