Computation of the exact time delay margin for vehicle platoon under generic communication topologies

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外文摘要：Due to the limited bandwidth and transmission congestion of the vehicle platoon's communication,it is inevitable to induce time delay,which significantly degrades the control performance of the vehicle platoon,even resulting in instability.This paper focuses on analyzing the internal stability under generic communication topologies and presents a method of computing the exact time delay margin(ETDM).The proposed method can offer a necessary and sufficient internal stability condition with no conservatism.Firstly,to reduce the analytical complexity and computational burden elegantly,we decompose the closed-loop platoon dynamics into a set of individual subsystems via similarity trans-formation and matrix factorization.This decomposition approach is applicable for any general communication topology.Secondly,an explicit formula is deduced to compute the ETDM by surveying the characteristic roots'distribution of all these individual subsystems.It is further demonstrated that only the positive purely imaginary roots need to be considered to compute the ETDM.Finally,simulations are conducted to demonstrate the effectiveness of the theoretical claims.

外文关键词：

Vehicle platoonExact time delay marginGeneric communication topologiesSystem decompositionCharacteristic roots'distribution

作者：

Xu Zhu、Maode Yan、Panpan Yang、Yongtao Liu

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作者单位：

School of Electronic and Control Engineering,Chang'an University,Xi'an 710064,China

School of Automobile,Chang'an University,Xi'an 710064,China

基金：

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaKey Research and Development Program of Shaanxi ProvinceFundamental Research Funds for the Central Universities

项目编号：

62003054523724062023-YBGY-398300102320109

出版年：

2024

DOI：

10.1016/j.jtte.2022.06.010

交通运输工程学报(英文版)

CSTPCD

ISSN：2095-7564

年,卷(期)：2024.11(4)