Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon
Joint Authors
Gao, Feng
Dang, Dongfang
Hu, Qiuxia
He, Yingdong
Source
Journal of Advanced Transportation
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-03-03
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
To overcome the challenges arising from the weakness of wireless communication, this paper presents a distributed H∞ control method for multi-AVs connected by an uncertain and switching topology in a platoon.
After compensating for the powertrain nonlinearities, we model the node dynamics as a linear uncertain system.
By applying the eigenvalue decomposition and linear transformation, the platoon system is decomposed to multiple low order subsystems depending on the eigenvalues of the topological matrix.
The sufficient condition ensuring the robust performance of the platoon is presented by using the invariant of signal amplitude of the linear transformation.
Then a numerical method is provided to solve the state feedback controller by using the LMI scheme.
Only the bounds of the topological eigenvalues are necessary for this new synthesis method and the designed controller can govern the platoon composed of disturbed nodes and interacting by uncertain even switching topologies in a satisfactory way.
The effectiveness of this distributed H∞ control strategy is validated by comparative bench tests between nominal and disturbed conditions.
American Psychological Association (APA)
Gao, Feng& Dang, Dongfang& Hu, Qiuxia& He, Yingdong. 2019. Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon. Journal of Advanced Transportation،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1170362
Modern Language Association (MLA)
Gao, Feng…[et al.]. Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon. Journal of Advanced Transportation No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1170362
American Medical Association (AMA)
Gao, Feng& Dang, Dongfang& Hu, Qiuxia& He, Yingdong. Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon. Journal of Advanced Transportation. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1170362
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1170362