Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays
WANG Jingyao1,2, ZHENG Huaqing1, GUO Jinghua1,2, LUO Yugong2
1. School of Aerospace Engineering, Xiamen University, Xiamen 361005, China; 2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
Abstract：Groups of intelligent electric vehicles are more difficult to control when experiencing communication delays. This paper presents a distributed adaptive robust control method for vehicle platoons. The platoon control model includes nonlinear terms, parameter uncertainties, communication delays and other factors. The influence of the nonlinear terms on the control system is eliminated by using an inverse model. Then, a distributed state feedback control structure is designed with a closed-loop model with communication delays, external disturbances and parameter uncertainties. The communication topology is then decoupled using property value decomposition. The existence condition of the adaptive controller is derived using the linear matrix inequality processing method. The matrix inequality is low dimensional and independent of the platoon length. The control system is shown to be stable with communication delays using Lyapunov stability theory. Simulations demonstrate the feasibility and effectiveness of this distributed adaptive robust control method when influenced by communication delays.
王靖瑶, 郑华青, 郭景华, 罗禹贡. 通信延迟下智能电动汽车队列分布式自适应鲁棒控制[J]. 清华大学学报（自然科学版）, 2021, 61(9): 889-897.
WANG Jingyao, ZHENG Huaqing, GUO Jinghua, LUO Yugong. Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays. Journal of Tsinghua University(Science and Technology), 2021, 61(9): 889-897.
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2021, Vol. 61 
