Platoon Tracking Control Of Intelligent And Connected Vehicles Under Switching Communication Topologies

As a key technology of intelligent transport,vehicle platoon control can effectively increase traffic capacity and improve road safety,which has been widely applied in transportation.Communication topology is one of the four major elements of vehicle platoon and has a significant impact on platoon control performance.The severe external environment poses a major challenge for the study of vehicle platoon due to the difficulty in information transmission,the time-varying communication network,and so on.In addition,communication resources,control tasks,and energy constraints increase the difficulty of platoon control.Above all,this paper investigates the problem of vehicle platoon tracking control with dynamic communication topologies.The main research results are as follows.1.The platoon optimal tracking control method under fixed/dynamic communication topologies is proposed.The dynamic environment during driving is taken into consideration.An optimization framework and objective function are developed.And according to the states of neighboring vehicles,the distributed platoon control schemes under fixed and dynamic communication topologies are respectively proposed.Moreover,the theoretical optimal values under fixed/dynamic topologies are obtained.And the stability of the platoon control system is verified through Lyapunov theory.Then,the average dwell time for the switching topologies is provided.Simulations are used to illustrate the effectiveness of the proposed method.2.For the randomness and uncertainty of switching topologies,the optimal control based on the exponential discount function and observation for connected vehicles with Markov-chain switching topologies is investigated.A distributed observation-based vehicle platoon control scheme is proposed to effectively avoid the interference caused by the switching topologies.Then,an energy-optimal framework for vehicle platoon is developed based on the exponential discount function.Moreover,we employ the Riccati equation to solve this optimal input.On this basis,the stability and optimality of the proposed platoon control system are theoretically proved and in simulation.3.A platoon control method based on event triggering and dissipative mechanisms is designed for connected vehicles with Markov chain communication topology and external disturbances.Resource consumption and the existence of communication isolation are both taken into consideration.Considering short periods of time when some vehicles are out of the queue during travel,a novel distributed event-triggered protocol is proposed based on the estimation state of neighboring vehicles.Moreover,under the absence and presence of disturbances,the conditions of mean-square exponential stability and strictly(Q,R,S)-βdissipative performance are analyzed,respectively.Simulations are used to illustrate the effectiveness of the proposed method.