In this paper the problem of decentralized switching control of a platoon of vehicles in the presence of heterogeneous time-varying communication and parasitic delays is investigated. A neighbor-based linear decentralized controller using the relative measurements is considered for each vehicle. The communication structure of the platoon is assumed to be time-varying. Therefore, the closed-loop dynamics of the platoon is in the form of switched linear multiple-delay systems. Compared to previous research, the communication structure of the platoon is assumed to be general. A safe and dense spacing policy is used to adjust inter-vehicle distances. The internal stability analysis of the platoon is done by employing Lyapunov–Razumikhin and Lyapunov–Krasovskii theorems. Afterwards, some conditions on control parameters assuring string stability are obtained by introducing a new theorem. Simulation studies are carried out to show the effectiveness of the proposed methods.
HorowitzRVaraiyaP. Control design of an automated highway system. Proc IEEE Conf2000; 88: 913–925.
2.
ToorYMuhlethalerPLaouitiA. Vehicle ad hoc networks: applications and related technical issues. IEEE Commun Surv Tut2008; 10: 74–88.
3.
GhasemiARouhiS. A safe stable directional vehicular platoon. Proc IMechE Part D J Automob Eng2015; 229: 1083–1092.
4.
HelbingDTilchB. Generalized force model of traffic dynamics. Phys Rev E1998; 58: 133–138.
5.
LiYSunDLiuWet al. Modeling and simulation for microscopic traffic flow based on multiple headway, velocity and acceleration difference. Nonlinear Dyn2011; 66: 15–28.
6.
MarzbanradJKarimianN. Space control law design in adaptive cruise control vehicles using model predictive control. Proc IMechE Part D J Automob Eng2011; 225: 870–885.
7.
KaijiangYQingLJunqiYet al. Model predictive control for hybrid electric vehicle platooning using route information. Proc IMechE Part D J Automob Eng2016; 230: 1273–1285.
8.
GhasemiAKazemiRAzadiS. Stable decentralized control of platoon of vehicles with heterogeneous information feedback. IEEE Trans Veh Technol2013; 62: 4299–4308.
9.
GhasemiAKazemiRAzadiS. Stability analysis of bidirectional adaptive cruise control with asymmetric information flow. Proc Inst Mech Eng C J Mech Eng Sci2015; 229: 216–226.
10.
GuoGWenS. Communication scheduling and control of a platoon of vehicles in VANETs. IEEE Trans Intell Transp Syst2016; 17: 1551–1563.
11.
PloegJSerrarensAHeijenkG. Connect & Drive: design and evaluation of cooperative adaptive cruise control for congestion reduction. J Mod Transport2011; 19: 207–213.
12.
RajmaniR. Vehicle dynamics and control. Heidelberg: Springer, 2011.
13.
XiaLGaoF. Practical string stability of platoon of adaptive cruise control vehicles. IEEE Trans Intell Transp Syst2011; 12: 1184–1194.
14.
GhasemiAKazemiRAzadiS. Exact stability of a platoon of vehicles by considering time delay and lag. J Mech Sci Technol2015; 29: 799–805.
15.
JiaDNgoduyD. Platoon based cooperative driving model with consideration of realistic inter-vehicle communication. Trans Res Part C Emerg Technol2016; 68: 245–264.
16.
WookKDongkC. Direct adaptive bidirectional platoon using a coupled sliding mode control method. IEEE Trans Intell Transp Syst2016; 15: 2040–2049.
BernardoMSalviASantiniSet al. Third-order consensus in vehicles platoon with heterogeneous time-varying delays. IFAC-PapersOnLine, 2015, 48(12): 358–363.
19.
SalviA. Cooperative control for vehicle platooning: a complex network approach. PhD Dissertation, Department of Electrical Engineering and Information Technology (DIETI), University of Naples Federico II, Naples, Italy, 2014.
20.
NaranjoJGonzalezCCarciaR. ACC+stop&go maneuvers with throttle and brake fuzzy control. IEEE Trans Intell Transp Syst2006; 7: 213–225.
21.
LiYLiKZhengTet al. Evaluating the performance of vehicular platoon control under different network topologies of initial states. Physica A2016; 450: 359–368.
22.
NausGLVugtsRPloegJet al. String-stable CACC design and experimental validation: a frequency-domain approach. IEEE Trans Veh Technol2010; 59: 4268–4277.
23.
GhasemiAKazemiRAzadiS. Directional control of a platoon of vehicles for comfort specification by considering parasitic time delays and lags. PROMET-Traffic Transpn2013; 25: 412–420.
24.
EbenSLLiKWangJ. Economy-oriented vehicle adaptive cruise control with coordinating multiple objectives functions. Veh Syst Dyn2013; 51: 1–17.
25.
YunXLFengG. Effect of information delay on string stability of platoon of automated vehicles under typical information frameworks. J Cent South Univ Technol2010; 17: 1271–1278.
26.
LiberzonD. Switching in systems and control. Boston, MA: Birkhauser, 2003.
27.
ChehardoliHEghtesadM. Robust adaptive control of switched nonlinear systems in strict feedback form with unknown time delay. IMA J Math Contr Inform2015; 32: 761–779.
28.
ChehardoliHHomaeinezhadMR. Stable control of a heterogeneous platoon of vehicles with switched interaction topology, time-varying communication delay and lag of actuator. Proc IMechE Part C J Mech Eng Sci2017; 232: 1–12.
29.
ChehardoliHHomaeinezhadMR. Robust control of a platoon of vehicles with communication time delay and switched interaction topology. J Control2016; 10: 61–70.
30.
ChehardoliHGhasemiA. Adaptive robust output tracking control of uncertain nonlinear cascade systems with disturbance and multiple unknown time-varying delays. Asian J Control2018; 20: 1–8.
31.
GomezRC. Exact and exhaustive stability analysis of linear consensus protocols with time-delay. PhD Thesis, University of Connecticut, Storrs, CT, 2012.
32.
GuKKharitonovVChenJ. Stability of time-delay systems. Boston, MA: Birkhauser, 2003.
