Preliminary communication

https://doi.org/10.7307/ptt.v29i1.1969

Analysis, Synthesis and Experiments of Networked Platoons with Communication Constraints

Ligang Wu ; Shanxi Datong University
Zibao Lu ; Dalian University of TechnologyAnhui Normal University
Ge Guo ; Dalian Maritime University

Abstract

This paper investigates the analysis and synthesis of networked vehicle platoons with communication delays, packet dropouts and disorders. In order to deal with the effects of the communication constraints, we introduce a novel Smart Data Processor (SDP) for each vehicle, by which the latest data packets from logic Data Packet Processor and the matched data packet from its Buffer can be obtained. Based on this mechanism, a leader-predecessor-follower control strategy is proposed. In order to guarantee the asymptotic and string stability, the platoon control problem is transformed into a multi-objective H∞-type synthesis problem with the multiple time-varying delays. A sufficient condition for designing the controller gain is derived by solving a set of linear matrix inequalities. Numerous simulations and experiments with laboratory scale Arduino cars show the efficiency of the proposed methods.

Keywords

platoon; communication constraints; Smart Data Processor; H∞-type performance

Hrčak ID:

179569

URI

https://hrcak.srce.hr/179569

Publication date:

3.2.2017.

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