Multi look‐ahead consensus of vehicular networks in the presence of random data missing

Abstract

This study deals with internal and string stability analyses of vehicular platoons with centralized multi-look ahead network topology in the presence of communication and parasitic delays and random data missing. In vehicular networks, because of huge amount of information exchanged between vehicles and highway infrastructures, some adverse effects such as data missing and communication delay are unavoidable in practical implementation. In this study, a third-order dynamical model is used to describe the longitudinal dynamics of each following vehicle, and the constant spacing strategy is used to adjust the inter-vehicle spacing. By considering communication and parasitic delays and random data missing, the closed-loop dynamics of platoon is derived. Afterward, by using the Lyapunov–Krasovskii theorem, sufficient conditions assuring the internal stability are introduced. In continuance, the string stability of platoon under the aforementioned effects is studied. It will be shown that the proposed controller always guarantees the string stability of platoon without any limitations. Several simulation results are provided to show the effectiveness of the proposed approaches.

Keywords

Internal stability string stability random data missing communication delay parasitic delay

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