Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability

Xianzhe Liu; Xuting Duan; Jianshan Zhou; Long Zhang

doi:10.1109/ICUS55513.2022.9987212

Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability

Xianzhe Liu
, Xuting Duan
, Jianshan Zhou
, Long Zhang^*

^*Corresponding author for this work

School of Transportation Science and Engineering

Beihang University
National Key Laboratory of Science and Technology on Information System Security

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we propose a platoon controller design approach for the vehicular platoon with bounded external disturbances. The vehicle communication between followers are bidirectional, and the leader can transmit its state to all followers. To make sure the platoon can converge to the leader's state with external disturbances, a distributed discontinuous controller is proposed. By introducing input-to-state string stability (ISSS), the states of all followers are proved to be convergent under the leader's bounded inputs and each follower's bounded external disturbances. After solving the linear matrix inequality (LMI) obtained from the convergence analysis, we get the feedback control gains which can make the vehicle platoon stabilized. Besides, with some minor changes to the theorem, the controller can also apply to the platoon system without disturbances. Finally, the effectiveness of the control scheme is confirmed by some numerical simulations.

Original language	English
Title of host publication	Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Editors	Rong Song
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	793-798
Number of pages	6
ISBN (Electronic)	9781665484565
DOIs	https://doi.org/10.1109/ICUS55513.2022.9987212
State	Published - 2022
Event	2022 IEEE International Conference on Unmanned Systems, ICUS 2022 - Guangzhou, China Duration: 28 Oct 2022 → 30 Oct 2022

Publication series

Name	Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

Conference

Conference	2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Country/Territory	China
City	Guangzhou
Period	28/10/22 → 30/10/22

Keywords

External disturbances
distributed controller
input-to-state stability
linear matrix inequality

Access to Document

10.1109/ICUS55513.2022.9987212

Cite this

Liu, X., Duan, X., Zhou, J., & Zhang, L. (2022). Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability. In R. Song (Ed.), Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022 (pp. 793-798). (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS55513.2022.9987212

Liu, Xianzhe ; Duan, Xuting ; Zhou, Jianshan et al. / Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability. Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. editor / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 793-798 (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022).

@inproceedings{605fec814ef34459af60a503b01edd91,

title = "Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability",

abstract = "In this paper, we propose a platoon controller design approach for the vehicular platoon with bounded external disturbances. The vehicle communication between followers are bidirectional, and the leader can transmit its state to all followers. To make sure the platoon can converge to the leader's state with external disturbances, a distributed discontinuous controller is proposed. By introducing input-to-state string stability (ISSS), the states of all followers are proved to be convergent under the leader's bounded inputs and each follower's bounded external disturbances. After solving the linear matrix inequality (LMI) obtained from the convergence analysis, we get the feedback control gains which can make the vehicle platoon stabilized. Besides, with some minor changes to the theorem, the controller can also apply to the platoon system without disturbances. Finally, the effectiveness of the control scheme is confirmed by some numerical simulations.",

keywords = "External disturbances, distributed controller, input-to-state stability, linear matrix inequality",

author = "Xianzhe Liu and Xuting Duan and Jianshan Zhou and Long Zhang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Unmanned Systems, ICUS 2022 ; Conference date: 28-10-2022 Through 30-10-2022",

year = "2022",

doi = "10.1109/ICUS55513.2022.9987212",

language = "英语",

series = "Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "793--798",

editor = "Rong Song",

booktitle = "Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022",

address = "美国",

}

Liu, X, Duan, X , Zhou, J & Zhang, L 2022, Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability. in R Song (ed.), Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022, Institute of Electrical and Electronics Engineers Inc., pp. 793-798, 2022 IEEE International Conference on Unmanned Systems, ICUS 2022, Guangzhou, China, 28/10/22. https://doi.org/10.1109/ICUS55513.2022.9987212

Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability. / Liu, Xianzhe; Duan, Xuting ; Zhou, Jianshan et al.
Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. ed. / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2022. p. 793-798 (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability

AU - Liu, Xianzhe

AU - Duan, Xuting

AU - Zhou, Jianshan

AU - Zhang, Long

PY - 2022

Y1 - 2022

N2 - In this paper, we propose a platoon controller design approach for the vehicular platoon with bounded external disturbances. The vehicle communication between followers are bidirectional, and the leader can transmit its state to all followers. To make sure the platoon can converge to the leader's state with external disturbances, a distributed discontinuous controller is proposed. By introducing input-to-state string stability (ISSS), the states of all followers are proved to be convergent under the leader's bounded inputs and each follower's bounded external disturbances. After solving the linear matrix inequality (LMI) obtained from the convergence analysis, we get the feedback control gains which can make the vehicle platoon stabilized. Besides, with some minor changes to the theorem, the controller can also apply to the platoon system without disturbances. Finally, the effectiveness of the control scheme is confirmed by some numerical simulations.

AB - In this paper, we propose a platoon controller design approach for the vehicular platoon with bounded external disturbances. The vehicle communication between followers are bidirectional, and the leader can transmit its state to all followers. To make sure the platoon can converge to the leader's state with external disturbances, a distributed discontinuous controller is proposed. By introducing input-to-state string stability (ISSS), the states of all followers are proved to be convergent under the leader's bounded inputs and each follower's bounded external disturbances. After solving the linear matrix inequality (LMI) obtained from the convergence analysis, we get the feedback control gains which can make the vehicle platoon stabilized. Besides, with some minor changes to the theorem, the controller can also apply to the platoon system without disturbances. Finally, the effectiveness of the control scheme is confirmed by some numerical simulations.

KW - External disturbances

KW - distributed controller

KW - input-to-state stability

KW - linear matrix inequality

UR - https://www.scopus.com/pages/publications/85146493290

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DO - 10.1109/ICUS55513.2022.9987212

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T3 - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

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BT - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

Y2 - 28 October 2022 through 30 October 2022

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Liu X, Duan X , Zhou J, Zhang L. Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability. In Song R, editor, Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 793-798. (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022). doi: 10.1109/ICUS55513.2022.9987212

Distributed Platoon Control of Connected Vehicles Based on Input-to-state String Stability

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