The problem of designing a decentralized Cooperative Adaptive Cruise Control (CACC) with quantifiable robustness margins with respect to network delays and intermittent measurements is studied. A networked decentralized proportional-derivative controller is considered to achieve string stability for a platoon of vehicles. The closed-loop system is augmented with a timer triggering the arrival of new measurements. Sufficient conditions in the form of matrix inequalities are given to design the proposed controller with additional performance specifications. The effectiveness of the approach is shown in a numerical example.
Network aware control design for string stabilization in vehicle platoons: An LMI approach
Ferrante F.;
2019
Abstract
The problem of designing a decentralized Cooperative Adaptive Cruise Control (CACC) with quantifiable robustness margins with respect to network delays and intermittent measurements is studied. A networked decentralized proportional-derivative controller is considered to achieve string stability for a platoon of vehicles. The closed-loop system is augmented with a timer triggering the arrival of new measurements. Sufficient conditions in the form of matrix inequalities are given to design the proposed controller with additional performance specifications. The effectiveness of the approach is shown in a numerical example.File in questo prodotto:
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