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platoon control of connected vehicles with heterogeneous model structuresconsidering external disturbances

Green Energy and Intelligent Transportation 2022年第3期1卷 94-102页

作者： Yongfu Li Zongyu Qin Hao Zhu Srinivas Peeta Xinbo Gao Key Laboratory of Intelligent Air-Ground Cooperative control for Universities in Chongqing College of AutomationChongqing University of Posts and TelecommunicationsChongqing400065China Schools of Civil and Environmental Engineering and Industrial and Systems Engineering Georgia Institute of TechnologyAtlantaGA30332United States of America

This article studies the distributed cooperative control problem with the heterogeneous model structures and external disturbances for the connected vehicle(CV)*** propose a hierarchical framework to separate information flow topology from local dynamics control,which aims to deal with the heterogeneous model structures of CV *** hierarchical framework splits the control scheme into two layers,which include an observer in the upper-level layer and an integral sliding mode(ISM)controller in the lower-level ***,the conditions for the asymptotic stability of the CV platoon are derived and the effectiveness of the ISM controller is demonstrated through the Lyapunov *** research shows that compared with the traditional methods,the hierarchical framework does not need to specify the topology structure as a commonly used ***,numerical simulation results are performed to test the effectiveness and superiority of the developed controller.

关键词： Connected vehicle platoon control Heterogeneity Disturbances Lyapunov method

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Finite-time Bidirectional platoon control of Interconnected Vehicles with Multiple Disturbances 36

Finite-time Bidirectional Platoon Control of Interconnected ...

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第36届中国控制会议

作者： Jian Gong Yuan Zhao Zibao Lu School of Information Science and Technology Dalian Maritime University College of Computer and Information Engineering Tianjin Normal University College of Physics and Electronic Infromation Anhui Normal University

ISBN: (纸本)9781538629185

This paper investigates the finite-time bidirectional platoon control problem of interconneted vehicular systems with multiple disturbances.A sliding mode surface is selected for each following vehicles,which is dependent on the information from its nearset neighbor vehicles in bidierectional communication framwork,then a coupled sliding mode surface is construted in the form of linear combination of sliding mode surfaces of neghbor *** Lyapunov function method,a novel platoon control law is derived for cooperative tracking with the sliding method in context of finite-time *** the string stability can be easily guaranteed by appropriately choosing ***,the effectiveness of the robust platoon control methodology is demonstrated by numerical simulation.

关键词： Interconnected vehicles platoon control sliding mode control finite-time stability disturbance string stability

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platoon control for Connected Vehicles based on the V2X Communications: Design and Implementation

Platoon Control for Connected Vehicles based on the V2X Comm...

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第30届中国控制与决策会议

作者： Wenbo Chen Yongfu Li Kaibi Zhang Taixiong Zheng Huizong Feng College of Automation Chongqing University of Posts and Telecommunications

This study proposes a platoon control for connected vehicles under the realistic vehicle-to-vehicle/vehicle-to-infrastructure（V2 X） communications. In particular, a two-level framework including the vehicle merging and diverging is designed for the platoon control. Then, the corresponding field experiments are implemented according to the designed framework. To this end, the dedicated short range communication（DSRC） is used to facilitate the communication links. And on-board units（OBUs） and roadside units（RSUs） are developed for information exchange（i.e., position, speed and direction）. In addition, the IEEE 802.11 p is chosen as the protocol of DSRC. Results from the experiments validate the effectiveness of the proposed method in terms of the position trajectories and speed.

关键词： platoon control Connected vehicles OBU RSU V2X communications DSRC

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Distributed Resilient platoon control of Vehicular Cyber Physical Systems Subject to DoS Attacks

Distributed Resilient Platoon Control of Vehicular Cyber Phy...

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第三十九届中国控制会议

作者： ZHAO Yuan LIU Zhongchang WONG Wing Shing CHEN Chung Shue College of Computer and Information Engineering Tianjin Normal University Department of Information Engineering The Chinese University of Hong Kong College of Marine Electrical Engineering Dalian Maritime University

This paper investigates the platoon control problem for vehicular cyber physical systems（VCPSs） subject to Denialof-Service（DoS） attacks which often cause significant transmitted data packet delay or dropout by jamming the communication channels among vehicles. As a result, the VCPSs may contain isolated vehicles which cannot receive information from *** in truth can lead to performance degradation, or even collisions of vehicles. To mitigate such adverse effects of DoS attacks on VCPSs, this paper proposes a distributed control protocol for each vehicle to track the leading vehicle. In order to guarantee asymptotic tracking performances under both DoS attacks and the existing recovery mechanism, this paper characterizes the upper bounds of the time duration rate and the frequency of the communication network being in the state of containing no spanning tree, respectively, by using a state transformation method and multiple Lyapunov functions. The controller gains are also jointly designed in association with the parameters of the upper bounds. Numerical results show the effectiveness of the derived theoretical results.

关键词： Vehicular cyber physical systems platoon control DoS attacks asymptotic tracking

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Connected Autonomous Vehicle platoon control Considering Vehicle Dynamic Information

Connected Autonomous Vehicle Platoon Control Considering Veh...

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第37届中国控制会议

作者： Yongfu Li Changpeng He Key Laboratory of Industrial Internet of Things & Networked control Ministry of Education Chongqing University of Posts and Telecommunications Industrial IoT Collaborative Innovation Center College of Automation Chongqing University of Posts and Telecommunications

Considering the effect of vehicle dynamic information, this study proposed a platoon control protocol for connected autonomous vehicles driving on the lane-disciplined roads under the vehicle-to-vehicle（V2 V） communication environment. Algebraic graph theory has been used to capture the communication connections between vehicles. In addition, the electronic throttle opening angle containing the vehicle dynamics information is incorporated in the control protocol. The stability and consensus of the proposed control protocol are verified using Routh–Hurwitz stability criterion. Furth, the performance of the control protocol is that vehicle states can reach the consensus with respect to spacing error and velocity under external perturbation. Finally, the effectiveness of the proposed protocol is verified by the numerical experiment.

关键词： platoon control Vehicle dynamic information Connected autonomous vehicle V2V communication

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Finite-time platoon control of Connected and Automated Vehicles with Mismatched Disturbances

Finite-time Platoon Control of Connected and Automated Vehic...

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第三十九届中国控制会议

作者： Xuan Wang Yougang Bian Xiaohui Qin Manjiang Hu Biao Xu Guotao Xie College of Mechanical and Vehicle Engineering Hunan University School of Vehicle and Mobility Tsinghua University

platoon control is a promising approach for connected and automated vehicles（CAVs） to reduce traffic pressure. This paper studies finite-time platoon control of CAVs subject to mismatched as well as matched disturbances. A finite-time disturbance observer（DO） is first designed to estimate the mismatched velocity disturbance and the matched acceleration disturbance, and a sliding mode controller is then proposed based on the observed vehicle states for longitudinal cooperation of CAVs. Furthermore, it is proved that the desired platoon formation can be achieved in finite time. Finally, a simulation study is conducted to verify the theoretical results. Compared with a benchmark linear controller, the proposed finite-time platoon controller has more reliable performance.

关键词： Connected and automated vehicles(CAVs) platoon control mismatched disturbances disturbance observer

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Consensus-Based platoon control for Non-Lane-Discipline Connected Autonomous Vehicles Considering Time Delays

Consensus-Based Platoon Control for Non-Lane-Discipline Conn...

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第37届中国控制会议

作者： Chuancong Tang Yongfu Li Key Laboratory of Industrial Internet of Things & Networked control Ministry of Education Chongqing University of Posts and Telecommunications Industrial IoT Collaborative Innovation Center College of Automation Chongqing University of Posts and Telecommunications

This study proposes consensus-based control protocols for connected autonomous vehicles（CAVs） platoon with lateral gaps under a vehicle-to-vehicle communication environment. In particular, longitudinal and lateral consensus protocols are proposed considering the longitudinal and lateral gaps simultaneously as well as time delays. The stability and consensus of the proposed consensus protocol is analyzed using the Lyapunov-Krasovskii method. Under the proposed protocols, not only can the longitudinal consensus with respect to position and velocity of CAVs be guaranteed, but also the lateral consensus regarding to position and velocity of CAVs can be ensured. Finally, an example using a six-vehicle platoon under the bidirectional-leader topology is provided for two scenarios: no time delays and homogeneous time delays. Results from numerical experiments demonstrate the effectiveness of the proposed protocol in terms of the spacing error and velocity profiles.

关键词： Connected autonomous vehicles platoon control Consensus Lyapunov technique

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Nonlinear Longitudinal control for Vehicle platoon Considering the Effect of Electronic Throttle Opening Angle

Nonlinear Longitudinal Control for Vehicle Platoon Consideri...

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第32届中国控制与决策会议

作者： Yongxin Zhu Yongfu Li Shuyou Yu Key Laboratory of Intelligent Air-Ground Cooperative control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of control Science & Engineering Jilin University

This paper proposes a homogeneous vehicle platoon longitudinal controller considering the effect of electronic throttle opening *** particular,a nonlinear longitudinal controller is proposed by integrating the consensus between connected autonomous vehicles（CAVs）,the influence of interactions between vehicles and the effect of electronic throttle（ET） opening ***,the convergence condition is deduced analytically by using the Routh–Hurwitz stability *** controller can not only ensure the consensus of CAVs,but also avoid rear-end collision and negative ***,simulations are carried out in the presence of external interference to verify the robustness and effectiveness of the proposed controller with respect to position,velocity and acceleration/deceleration profiles.

关键词： Connected autonomous vehicles platoon control Electronic throttle opening angle Routh–Hurwitz stability criterion

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Ensuring Secure platooning of Constrained Intelligent and Connected Vehicles Against Byzantine Attacks:A Distributed MPC Framework

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Engineering 2024年第2期33卷 35-46页

作者： Henglai Wei Hui Zhang Kamal AI-Haddad Yang Shi Department of Mechanical Engineering University of VictoriaVictoriaBC V8W 3P6Canada School of Transportation Science and Engineering Beihang UniversityBeijing 100191China École de Technologie Supérieure University of QuebecMontrealQC H3C 1K3Canada

This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine *** introduce a resilient distributed model-predictive platooning control framework for such *** framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among ***,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable *** approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust ***,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network *** analysis demonstrates the recursive feasibility of the DMPC ***,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and *** results verify the effectiveness of our theoretical findings.

关键词： Model predictive control Resilient control platoon control Intelligent and connected vehicle Byzantine attacks

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Dynamical Stability of the Vehicular platoon Under Critical Conditions

Dynamical Stability of the Vehicular Platoon Under Critical ...

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第43届中国控制会议

作者： Wu Xiangji Yang Xiujian Wang Shenyi Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Faculty of Transportation Engineering Kunming University of Science and Technology

Considering the inherent dynamics of individual vehicles in the vehicular platoon,this paper investigates the dynamical stability of the vehicular platoon under critical *** contrast to many studies that are performed ideally under normal conditions based on the linear lumped-mass vehicle model,this work focuses on the dynamics and stability of vehicular platoon under critical situations based on the nonlinear node vehicle dynamics model especially accounting for the nonlinear tyre force ***,a nonlinear platoon dynamics model is *** equilibrium stability and string stability are analyzed versus the actual road and driving conditions,to evaluate the dynamics and stability of the vehicular platoon under critical *** is revealed that the design range of control gains under actual driving conditions is very limited and presents a strong nonlinear property compared with that obtained by linear analysis,and demonstrates the significance of considering the inherent vehicle dynamics in platoon control design.

关键词： Vehicular platoon platoon control Dynamical stability Nonlinear dynamics

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