Constrained distributed consensus control of homogeneous vehicle platoons with bidirectional communication
•A nominal distributed consensus controller for homogeneous vehicle platoons that considers the spacing errors with both the predecessor and the follower.•Input-to-state stability of the closed-loop platoon dynamics is proven through a Lyapunov approach.•String stability properties of the nominal co...
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| Veröffentlicht in: | Control engineering practice Jg. 140; S. 105690 |
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01.11.2023
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| Abstract | •A nominal distributed consensus controller for homogeneous vehicle platoons that considers the spacing errors with both the predecessor and the follower.•Input-to-state stability of the closed-loop platoon dynamics is proven through a Lyapunov approach.•String stability properties of the nominal controller are analyzed.•The nominal distributed controller is fed into an online optimization problem derived from control barrier functions to calculate the constrained control input that satisfies state and input constraints that take into account the constraints of the vehicles.
Vehicle platooning is deemed a promising solution to improve traffic safety, reduce fuel consumption and increase traffic throughput and road capacity. Road throughput can be increased by driving at small inter-vehicle distances. Adjusting the spacing with both the preceding and the succeeding vehicles using bidirectional communication can potentially improve the platoon cohesiveness and is crucial when considering the synchronized merging scenario. In this paper, a distributed consensus controller is presented which relies on bidirectional platoon communication. To take into account the constraints of the system state and input constraints are implemented using control barrier functions via linear quadratic programming. Along with the consensus-based controller synthesis, platoon stability proof and string stability analysis, effectiveness of the controller is verified in a simulation study. |
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| AbstractList | •A nominal distributed consensus controller for homogeneous vehicle platoons that considers the spacing errors with both the predecessor and the follower.•Input-to-state stability of the closed-loop platoon dynamics is proven through a Lyapunov approach.•String stability properties of the nominal controller are analyzed.•The nominal distributed controller is fed into an online optimization problem derived from control barrier functions to calculate the constrained control input that satisfies state and input constraints that take into account the constraints of the vehicles.
Vehicle platooning is deemed a promising solution to improve traffic safety, reduce fuel consumption and increase traffic throughput and road capacity. Road throughput can be increased by driving at small inter-vehicle distances. Adjusting the spacing with both the preceding and the succeeding vehicles using bidirectional communication can potentially improve the platoon cohesiveness and is crucial when considering the synchronized merging scenario. In this paper, a distributed consensus controller is presented which relies on bidirectional platoon communication. To take into account the constraints of the system state and input constraints are implemented using control barrier functions via linear quadratic programming. Along with the consensus-based controller synthesis, platoon stability proof and string stability analysis, effectiveness of the controller is verified in a simulation study. |
| ArticleNumber | 105690 |
| Author | Horn, Joachim Gaagai, Ramzi |
| Author_xml | – sequence: 1 givenname: Ramzi orcidid: 0009-0005-4353-5640 surname: Gaagai fullname: Gaagai, Ramzi email: gaagair@hsu-hh.de – sequence: 2 givenname: Joachim surname: Horn fullname: Horn, Joachim |
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| Cites_doi | 10.1109/TCST.2013.2258346 10.1109/87.865854 10.1016/j.ifacol.2020.12.2027 10.1016/j.physa.2021.126301 10.1109/TITS.2020.2973799 10.1109/25.260756 10.1109/TCST.2017.2720141 10.1016/j.trc.2020.102882 10.1016/j.ifacol.2015.11.152 10.1109/TAC.2004.834433 10.1109/TITS.2014.2349498 10.1016/j.arcontrol.2019.03.001 10.1109/25.917908 10.1109/MED59994.2023.10185754 10.1109/TVT.2002.800617 |
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| Keywords | Distributed control Control barrier functions Connected and automated vehicles Consenus String stability Homogeneous vehicle platoons |
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10.1016/j.conengprac.2023.105690_bib0027 article-title: Control sharing barrier functions with application to constrained control – volume: 47 start-page: 81 year: 2019 ident: 10.1016/j.conengprac.2023.105690_bib0004 article-title: String stability for vehicular platoon control: Definitions and analysis methods publication-title: Annual Reviews in Control doi: 10.1016/j.arcontrol.2019.03.001 – volume: 50 start-page: 150 issue: 1 year: 2001 ident: 10.1016/j.conengprac.2023.105690_bib0024 article-title: Direct adaptive longitudinal control of vehicle platoons publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/25.917908 – ident: 10.1016/j.conengprac.2023.105690_bib0005 doi: 10.1109/MED59994.2023.10185754 – volume: 51 start-page: 1186 issue: 5 year: 2002 ident: 10.1016/j.conengprac.2023.105690_bib0017 article-title: Semi-autonomous adaptive cruise control systems publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2002.800617 |
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| SubjectTerms | Connected and automated vehicles Consenus Control barrier functions Distributed control Homogeneous vehicle platoons String stability |
| Title | Constrained distributed consensus control of homogeneous vehicle platoons with bidirectional communication |
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