Computation of the exact time delay margin for vehicle platoon under generic communication topologies

作     者：Xu Zhu Maode Yan Panpan Yang Yongtao Liu 

作者机构：School of Electronic and Control EngineeringChang'an UniversityXi'an 710064China School of AutomobileChang'an UniversityXi'an 710064China 

出 版 物：《Journal of Traffic and Transportation Engineering(English Edition)》 (交通运输工程学报（英文版）)

年 卷 期：2024年第11卷第4期

页      面：761-775页

核心收录：

学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0838[工学-公安技术] 0802[工学-机械工程] 0823[工学-交通运输工程] 

基　　金：supported in by National Natural Science Foundation of China(No.62003054,52372406) Key Research and Development Program of Shaanxi Province(Nos.2023-YBGY398) Fundamental Research Funds for the Central Universities(No.300102320109) 

主　　题：Vehicle platoon Exact time delay margin Generic communication topologies System decomposition Characteristic roots'distribution 

摘      要：Due to the limited bandwidth and transmission congestion of the vehicle platoon s communication,it is inevitable to induce time delay,which significantly degrades the control performance of the vehicle platoon,even resulting in *** paper focuses on analyzing the internal stability under generic communication topologies and presents a method of computing the exact time delay margin(ETDM).The proposed method can offer a necessary and sufficient internal stability condition with no ***,to reduce the analytical complexity and computational burden elegantly,we decompose the closed-loop platoon dynamics into a set of individual subsystems via similarity transformation and matrix *** decomposition approach is applicable for any general communication ***,an explicit formula is deduced to compute the ETDM by surveying the characteristic roots distribution of all these individual *** is further demonstrated that only the positive purely imaginary roots need to be considered to compute the ***,simulations are conducted to demonstrate the effectiveness of the theoretical claims.