Nonlinear finite-time consensus-based connected vehicle platoon control under fixed and switching communication topologies |
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| Institution: | 1. Key Laboratory of Industrial Internet of Things & Networked Control, Ministry of Education, and the Industrial IoT Collaborative Innovation Center, College of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China;2. NEXTRANS Center, School of Civil Engineering, Purdue University, West Lafayette, IN 47907, USA;3. Department of Civil and Environmental Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA;4. College of Civil Engineering and Architecture, Zhejiang University, Hangzhou 310058, China;1. Department of Electrical Engineering and Information Technology (DIETI), University of Naples Federico II, Naples, Italy;2. Department of Research and Development, Media Motive srl, NetCom Group spa, Naples, Italy;1. Uppsala University, Sweden;2. The University of Newcastle, Australia;1. Chongqing Collaborative Innovation Center for Information Communication Technology, College of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China;2. College of Advance Manufacturing, Chongqing University of Posts and Telecommunications, Chongqing 400065, China |
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| Abstract: | This paper proposes nonlinear consensus-based control strategies for a connected vehicle (CV) platoon under different communication topologies. In particular, pinning control based consensus protocols are proposed by incorporating the car-following interactions between CVs under fixed and switching communication topologies. The finite-time stability and consensus of the proposed protocols are rigorously analyzed using the LaSalle’s invariance principle and Lyapunov technique. The theoretical analyses investigate the impacts of communication topology on convergence and stability of CV platoon. This study conducts numerical experiments for a CV platoon under four scenarios: (i) Fixed communication topology with time-invariant leader, (ii) fixed communication topology with time-variant leader, (iii) switching communication topology with time-invariant leader, and (iv) switching communication topology with time-variant leader. Simulations results illustrate the effectiveness of the proposed protocols in terms of convergence time and stability with respect to position and velocity profiles. |
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| Keywords: | Connected vehicle Consensus protocol Finite-time control Platoon control Lyapunov technique |
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