Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays

WANG Jingyao; ZHENG Huaqing; GUO Jinghua; LUO Yugong

doi:10.16511/j.cnki.qhdxxb.2021.22.008

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Journal of Tsinghua University(Science and Technology) ›› 2021, Vol. 61 ›› Issue (9) : 889-897. DOI: 10.16511/j.cnki.qhdxxb.2021.22.008

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Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays

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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.

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intelligent electric vehicles / platoon control / communication delays / adaptive robust control

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WANG Jingyao, ZHENG Huaqing, GUO Jinghua, LUO Yugong. Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays[J]. Journal of Tsinghua University(Science and Technology). 2021, 61(9): 889-897 https://doi.org/10.16511/j.cnki.qhdxxb.2021.22.008

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