2018, Volume 13, Issue 3
Frontiers of Mechanical Engineering >> 2018, Volume 13, Issue 3 doi: 10.1007/s11465-018-0486-x
Robust cooperation of connected vehicle systems with eigenvalue-bounded interaction topologies in the presence of uncertain dynamics
1. State Key Laboratory of Automotive Safety and Energy, Department of Automotive Engineering, Tsinghua University, Beijing 100084, China.
2. School of Automotive Engineering, Chongqing University, Chongqing 400044, China.
3. Department of Engineering Science, University of Oxford, Oxford OX13PJ, UK
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Abstract
This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.
Keywords
automated vehicles ; platoon ; distributed control ; robustness
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