Research On Control Method For Event-Triggered Markov Vehicle Platoon

The formation driving of vehicles can effectively reduce fuel consumption and improve traffic efficiency by decreasing aerodynamic drag,which has became one of the key research directions in the field of intelligent transportation.The surrounding states beyond the line of sight can be detected by the vehicle on-board controller using the advanced dedicated short range communication,which greatly improves the safety of vehicle platoon.However,the multi-hop property and the openness of communication network can cause stochastic switching topology and suffer from denial of service jamming attacks,which can lead to stochastic time delay of data transmission;moreover,the time delay is further exacerbated using periodic-triggered control with the limited bandwidth.Moreover,the delay can be further exacerbated under the limited bandwidth and periodic transmission method,because a large amount of redundant data can not only occupies unnecessary bandwidth,but also increases the computational burden on the on-board controller.All these factors can inevitably threaten the safe of vehicle platoon.The existing control methods for vehicle platoon have certain limitations and conservatism in solving these problems.Therefore,this dissertation conducts research on the security control problem of vehicle platoon with limited network bandwidth and stochastic delay of data transmission,which provides theoretical reference and technical support for solving the problem of vehicle platoon control.The main research contents include the following aspects:（1）An event-triggered control approach for Markovian time delay vehicle platoon is proposed.To achieve the secure control of vehicle platoon under bandwidth constraints and stochastic time delay,a general full Markovian jump time delay system is proposed to characterize the stochastic characteristics of vehicle platoon networks.The original system is firstly transformed into an inter-connected Markovian jump systems using the input-output method.Then,the proposed dynamic event-triggered control with more relaxed event-triggered conditions is configured between the sensors and controllers.With Lyapunov-Krasovskii functional method and scaled stochastic small-gain theorem,the stability condition is proposed and state-feedback controllers are designed to guarantee the stochastic stability of the closed-loop system.Furthermore,the event-triggered control approach is extended to semi-Markovian jump time delay vehicle platoon with partially known transition rates.Under lower transmission frequency,the control method proposed in this dissertation can effectively reduce the conservatism of on-board vehicle controllers caused by the stochastic time delay.（2）An event-triggered control method for vehicle platoon with Markovian topology switching is proposed.In order to address the uncontrollable problem of vehicle platoon control under stochastic topology switching and limited bandwidth networks,the stochastic topology switching behavior for vehicle platoon is firstly characterized as a lumped Markovian jump systems.Meanwhile,a dynamic event-triggered control is designed to filter redundant data transmission.Combining Lyapunov-Krasovskii functional method and string stability theory,the state-feedback controller is proposed to ensure strictly string stability of the vehicle platoon with Markovian topology switching.Further,a distributed dynamic event-triggered error tracking model is proposed to decrease the computational complexity of lumped modeling method of the vehicle platoon.On this basis,an adaptive controller update algorithm that follows Markov switching law is proposed to ensure the stability of the vehicle platoon.By significantly reducing the transmission frequency,the method proposed in this dissertation solves the security control problem of vehicle platoon with stochastic topology switching and improves the robustness of vehicle platoon under uncertain network environments.（3）An event-triggered resilient control approach is proposed to stabilize the vehicle platoon with time-varying semi-Markov denial of service jamming attacks.To characterize the vehicle platoon networks with stochastic denial of service jamming attacks,with time-varying sampling period method,the vehicle platoon is modeled as a semi-Markov jump systems by building an one-to-one mapping relationship between the continuous packet loss set and the sampling period set.Then,an attack-dependent distributed dynamic event-triggered control is proposed to reduce transmission frequency and mutual interference.With Lyapunov-Krasovskii functional method and the stochastic string stability theory,the strictly stability conditions is proposed and the resilient controller is designed to stabilize the event-triggered vehicle platoon under semi-Markov denial of service jamming attacks.Meanwhile,an adaptive scheduling algorithm for resilient controller is proposed to match time-varying network attacks by periodic refreshing controller gains.The results of this dissertation significantly enhances the anti-interference ability of vehicle platoon,while effectively reducing bandwidth occupation and mutual interference.（4）An event-triggered resilient control approach is proposed to stabilize the hidden-Markov vehicle platoon with non-stationary denial of service jamming attacks.To solve the uncontrolled issue of vehicle platoon caused by non-stationary denial of service jamming attacks under limited bandwidth,the hidden-Markov vehicle platoon model is proposed using the time-varying sampling period method,meanwhile,an adaptive event-triggered control is proposed to balance platoon tracking performance and transmission frequency,which can update the event-triggered threshold based on the change of the control input of preceding vehicle and the attack level of denial of service jamming attacks.Finally,With Lyapunov-Krasovskii functional method and the stochastic₂L string stability theory,the stochastic stability conditions of vehicle platoon and the design method of resilient controller are derived,respectively.The resilient controller proposed in this dissertation enhances the anti-interference ability of vehicle platoon,and effectively balances the relationship between reducing data transmission frequency and improving tracking performance.