Consensus Based Platoon Control Of Intelligent And Connected Vehicles Under Multiple Constraints

Equipped with advanced on-board sensors,controllers,actuators,etc,and integrated with modern communication and network technology,the intelligent and connected vehicle platoon shows excellent performance in improving road safety,reducing energy consumption and alleviating traffic congestion.However,in practical application,the system will be limited by physical devices,transmission channel,etc,which will lead to the reduction of platoon system performance and even the occurrence of instability.Therefore,it is of great theoretical value and practical significance to carry out the research of intelligent and connected vehicle platoon under multiple constraints.In this paper,the intelligent and connected vehicle platoon control under practical constraints is studied in depth according to the research status,and the consensus based control algorithms under multiple constraints are designed.Then the stability of the proposed algorithms is proved through Lyapunov and its derivation theorems.Finally,the effectiveness of the proposed algorithm is verified by simulation experiments.The main work of this paper is given as follows:1.The platoon control problems for the intelligent and connected vehicles with actuator saturation and with absent velocity measurement are investigated.Firstly,a consensus based control strategy is designed for vehicle platoon with actuator saturation by introducing the smooth function tanh(·).Moreover,both the actuator saturation and absent velocity measurement are taken into consideration.An auxiliary system is given for the followers to estimate the velocities,and then the distributed controller for vehicle platoon with actuator saturation and absent velocity measurement constraints is designed.2.The platoon control problem for the nonlinear intelligent and connected vehicles in the presence of time delay is studied in this paper.Firstly,a distributed controller is designed to handle the constant time delay.By deploying the Lyapunov-Razumikhin theorem,the upper bounds of constant time delay are derived,which can guarantee the stability of the vehicle platoon when the delays are lower than these bounds.Further,the controller is developed to deal with the control problem for intelligent and connected vehicle with time-varying delay,and Lyapunov-Krasovskii theorem is applied to obtain the upper bounds of the delay.3.The platoon control problems for the intelligent and connected vehicles with packet losses and with time delay are discussed.Taking the packet losses problem into consideration,a distributed control protocol is designed for intelligent and connected vehicle platoon on the basis of the stability requirements and consensus objectives.Further,under the combined consideration of packet losses and time delays in the intelligent and connected vehicle platoon control,the distributed control protocol is extended,and the stability can be guaranteed when the packet loss rate and upper bound of delay are satisfied.