Design and analysis of distributed controller for longitudinal platoon of networked vehicles under the bidirectional communication delay
The bidirectional communication delay in connected vehicle platoon systems can significantly impact the control performance of the platoon.In extreme cases,it may even result in instability or collisions.A cloud-based distributed control algorithm was proposed,fully considering the bidirectional communication delay between vehicles and the cloud.Under certain assumptions,the vehicle platoon under cloud control was modeled with sampled control system methods,leading to the unification of bidirectional communication delay.A state feedback distributed controller was designed using the Riccati inequality,and the Lyapunov-Razumikhin theorem was utilized to analyze the asymptotic stability of the control algorithm,establishing the relationship between the upper bound of time-varying delay and the communication topology and coupling gain.The results show that the existence of an optimal coupling gain maximizes the tolerated upper bound of delay,and the ratio of the maximum to minimum eigenvalues of the Laplacian matrix of the communication topology is negatively correlated with the upper bound.
cloud control systemvehicle platoontime-varying delaybidirectional communication delay
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