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International Journal of Automotive Technology > Volume 18(1); 2017 > Article
International Journal of Automotive Technology 2017;18(1): 157-164.
doi: https://doi.org/10.1007/s12239-017-0016-6
DECOUPLED ROBUST CONTROL OF VEHICULAR PLATOON WITH IDENTICAL CONTROLLER AND RIGID INFORMATION FLOW
F. GAO1,*, D. F. DANG1, S. S. HUANG1, S. E. LI2
1School of Electrical Engineering, Chongqing University, Chongqing, 400044, China
2State Key Lab of Automotive Safety and Energy, Department of Automotive Engineering, Tsinghua University, Beijing 100084, China
PDF Links Corresponding Author.  F. GAO , Email. gaofeng1@cqu.edu.cn
Received: May 8, 2015; Revised: June 8, 2016   Accepted: June 14, 2016.
ABSTRACT
Platoon driving has potential to significantly benefit road traffic. This study presents a decoupled robust control strategy for a vehicular platoon with identical feedback controller and rigid information topology. The node dynamics of vehicle with a lower-level controller is assumed to be covered by a multiplicative uncertainty model. The vehicular platoon control system is skillfully decomposed into an uncertain part and a diagonal system by applying linear transformation and eigenvalue decomposition on information flow graph. Then the requirements of robust stability and distance tracking error are equivalent to the H-infinity norm of decoupled sub-systems. Comparative simulations with a non-robust controller and different communication topologies are conducted to demonstrate the robust stability and distance tracking performances of the proposed method.
Key Words: Vehicular platoon, Robust control, Decoupled control, Robust stability
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