Modeling And Control Of Networked Autonomous Platoon

Networked Autonomous Platoon Control Systems (NAPCS), as one of most important subsystems in intelligent transportation systems(ITS), enable to efficiently solve traffic congestion, environmental pollution, and traffic accidents, etc so as to improve operation efficiency and safety of ITS. In this thesis, modeling and control of NAPCS subject to communication constraints are explored. The summary of this thesis is given as follows:1. In order to reduce the negative effects of asynchronous data packets among vehicles caused by unreliable communication with time varying delays, packet dropouts and disorders, a novel SDP mechanism is proposed for NAPCS with a front-following strategy. By discretizing the model of NAPCS, some sufficient conditions are obtained to guarantee the asymptotic stability of platoon and design the controller gain matrices.2. By introducing a leader-front-following strategy and a modified SDP mechanism and dealing with the state information from the leader and front vehicles, the poor influences of communication constraints are addressed. By solving H_? synthesis problems with multiple objectives, some criteria for the stability of follower vehicles and the string stability of entire vehicle platoon are derived.3. A new model of heterogeneous NAPCS subject to limited communication channels is established. On the basis of this model, a dynamic scheduling approach is proposed to address the limitation of communication channels. Employing Lyapunov theory and frequency domain method, some conditions for the asymptotic stability of vehicles and the string stability of platoon are obtained. Moreover, a controller design method guaranteeing a given performance index is provided.4. Under the combined consideration of the limited resources and unreliable communication, a co-design method for event-based scheduling and control of NAPCS is presented. Then, the performance guarantee and robust control of networked autonomous platoon can be converted into an optimization issue of LMI solution. By solving this optimization problem, the global uniform stability of NAPCS is achieved.