An adaptive switched control approach to heterogeneous platooning with inter-vehicle communication losses

An adaptive switched control approach to heterogeneous platooning with inter-vehicle communication losses

Abou Harfouch, Youssef (Student TU Delft)
Yuan, S. (TU Delft Team Bart De Schutter)
Baldi, S. (TU Delft Team Bart De Schutter)

2017

The advances in distributed inter-vehicle communication networks have stimulated a fruitful line of research in Cooperative Adaptive Cruise Control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and communication with the preceding vehicle so as to maintain a safe inter-vehicle distance. However, a crucial limitation of CACC is that the string stability of the platoon can be proven only when the vehicles have identical driveline dynamics and perfect engine performance (homogeneous platoon), and possibly an ideal communication channel. This work proposes a novel CACC strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even for uncertain heterogeneous platoons. Moreover, in order to handle the inevitable communication losses, we formulate an extended average dwell-time framework and an adaptive switched control strategy which activates an augmented CACC or an augmented Adaptive Cruise Control strategy depending on communication reliability. Stability is proven analytically and simulations are conducted to validate the theoretical analysis.

adaptive control
Cooperative adaptive cruise control
heterogeneous platoon
networked control systems
switched control

http://resolver.tudelft.nl/uuid:cf530dd3-fabb-4c9e-96ce-935a7fcf7571

https://doi.org/10.1109/TCNS.2017.2718359

2325-5870

IEEE Transactions on Control of Network Systems, 5 (2018) (3), 1434-1444

Accepted Author Manuscript

Institutional Repository

journal article

© 2017 Youssef Abou Harfouch, S. Yuan, S. Baldi