Robust static output feedback synthesis for platoons under leader and predecessor feedback

• A multi-objective static output feedback synthesis problem is considered for the control of vehicle platoonsunder leader and predecessor feedback. Sufficient linear matrix inequality conditions are derived for thesolvability of the problem in a way to facilitate static feed-forward as well. A novel velocity-dependent spacingpolicy is integrated into the control scheme together with a platoon model in which the emphasis on thepredecessor information can be adjusted by a normalized scalar weight. It is shown that the string stability ofthe spacing errors and the acceleration signals can always be guaranteed by choosing this weight sufficientlysmall. Moreover, provided that the time headway is chosen sufficiently large, the synthesis can be performedin a way to avoid the amplification of acceleration energies if compared with the leader. As a particularlyconvenient feature, the target spacing between the vehicles becomes smaller when moving backward alongthe platoon. The total increase in the platoon length caused by the introduction of the velocity-dependentscheme is shown to be bounded and decreasing with decreasing predecessor weight. It is also establishedthat the predecessor weight can be adjusted smoothly over time without endangering the formation stability.In addition to the optimization of the parameters of common fixed-structure controllers for general vehicle models, the proposed synthesis procedure provides various tools for improving robustness against measurement noise, communication delay, and model uncertainty.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

H2) optimal control

vehicle platoons

string stability

LMI optimization

multi-objective (H_infinity

static output feedback

cooperative adaptive cruise control (CACC)

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art (ämneskategori)

ref (ämneskategori)