| 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 |
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Received: May 8, 2015; Revised: June 8, 2016 Accepted: June 14, 2016. |
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| ABSTRACT |
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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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Corresponding Author.
F. GAO , Email. 
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