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Distributed H∞ controller design and robustness analysis for vehicle platooning under random packet drop
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Halder, Kaushik, Montanaro, Umberto, Dixit, Shilp, Dianati, Mehrdad, Mouzakitis, Alexandros and Fallah, Saber (2022) Distributed H∞ controller design and robustness analysis for vehicle platooning under random packet drop. IEEE Transactions on Intelligent Transportation Systems, 23 (5). pp. 4373-4386. doi:10.1109/tits.2020.3044221 ISSN 1524-9050. [ 🗎 Public]. [ (🔓): Yes ].
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Official URL: https://doi.org/10.1109/tits.2020.3044221
Abstract
This paper presents the design of a robust distributed state-feedback controller in the discrete-time domain for homogeneous vehicle platoons with undirected topologies, whose dynamics are subjected to external disturbances and under random single packet drop scenario. A linear matrix inequality (LMI) approach is used for devising the control gains such that a bounded H∞ norm is guaranteed. Furthermore, a lower bound of the robustness measure, denoted as γ gain, is derived analytically for two platoon communication topologies, i.e., the bidirectional predecessor following (BPF) and the bidirectional predecessor leader following (BPLF). It is shown that the γ gain is highly affected by the communication topology and drastically reduces when the information of the leader is sent to all followers. Finally, numerical results demonstrate the ability of the proposed methodology to impose the platoon control objective for the BPF and BPLF topology under random single packet drop.
| Item Type: | Journal Article | ||||||||
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| Subjects: | T Technology > TE Highway engineering. Roads and pavements T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TS Manufactures |
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| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||
| SWORD Depositor: | Library Publications Router | ||||||||
| Library of Congress Subject Headings (LCSH): | Motor vehicles -- Automatic control, Intelligent transportation systems, Automated guided vehicle systems , Automated vehicles | ||||||||
| Journal or Publication Title: | IEEE Transactions on Intelligent Transportation Systems | ||||||||
| Publisher: | IEEE | ||||||||
| ISSN: | 1524-9050 | ||||||||
| Official Date: | May 2022 | ||||||||
| Dates: |
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| Volume: | 23 | ||||||||
| Number: | 5 | ||||||||
| Page Range: | pp. 4373-4386 | ||||||||
| DOI: | 10.1109/tits.2020.3044221 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Open Access (Creative Commons) | ||||||||
| Date of first compliant deposit: | 27 May 2022 | ||||||||
| Date of first compliant Open Access: | 30 May 2022 | ||||||||
| RIOXX Funder/Project Grant: |
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