Abstract
The platoon control problem for nonlinear vehicles in the presence of time delay is investigated in this paper, where both constant time delay and time-varying delay cases are considered. A linearized third-order vehicle dynamic model is firstly derived by deploying the exact feedback linearization technique and the vehicle platoon control problem is converted into a consensus-seeking problem. Then, a consensus based vehicle platoon control algorithm with time delay is proposed, which drives vehicles to form an equally spaced platoon with the same velocity. By deploying the Lyapunov-Razumikhin theorem, the upper bound of time delay for vehicle platoon with constant time delay is derived and the sufficient conditions that guarantee the stability of the vehicle platoon are obtained. Meanwhile, the sufficient conditions that ensure the stability of vehicle platoon with time-varying delay are acquired via the Lyapunov-Krasovskii theorem. Numerical demonstrations verify the feasibility and correctness of the theoretical results.
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Recommended by Associate Editor Yang Tang under the direction of Editor Euntai Kim. This work was supported by the National Natural Science Foundation of China (61803040), the Key Science and Technology Program of Shaanxi Province (2017JQ6060) and the Fundamental Research Funds for the Central Universities of China (300102328403, 310832171004). ) This work was also supported by the China Postdoctoral Science Foundation (2018M643).
Panpan Yang received his B.S. and M.S. degrees in School of Electronic and Control Engineering, Chang’an University, Xi’an, China, in 2008 and 2011, respectively. In 2016, he received his Ph.D. degree in School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China. He is currently a lecturer with the School of Electronic and Control Engineering, Chang’an University, Xi’an, China. His main research interests include control and application of mobile robots, modeling and control of flocking system, platoon control of connected vehicles.
Ye Tang received her B.S. degree in School of Electronic and Control Engineering, Chang’an University, Xi’an, China, in 2016. She is currently pursuing her M.S. degree in School of Electronic and Control Engineering, Chang’an University, Xi’an, China. Her research interests include platoon control of connected vehicles and cooperative control and optimization of multi-agent systems.
Maode Yan received his B.S., M.S. and Ph.D. degrees in School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China, in 1996, 1999, and 2001, respectively. He is currently a professor in School of Electronic and Control Engineering, Chang’an University, Xi’an, China. His research interests include networked control systems, vehicle platoon control, robot formation control.
Xu Zhu received his B.S. and Ph.D. degrees in School of Automation, Northwestern Polytechnical University, Xi’an, China, in 2009 and 2014, respectively. He is currently an associate professor in School of Electronic and Control Engineering, Chang’an University, Xi’an, China. His research interests include flight control of UAVs, cooperative control autonomous vehicles.
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Yang, P., Tang, Y., Yan, M. et al. Consensus Based Control Algorithm for Nonlinear Vehicle Platoons in the Presence of Time Delay. Int. J. Control Autom. Syst. 17, 752–764 (2019). https://doi.org/10.1007/s12555-017-0600-6
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DOI: https://doi.org/10.1007/s12555-017-0600-6