Cooperative Spacing Sampled Control of Vehicle Platoon Considering Undirected Topology and Analog Fading Networks

作者：Shen, Zhiping; Liu, Yonggui^*; Li, Zeming; Nabin, Mahmudul Hasan

来源：IEEE Transactions on Intelligent Transportation Systems, 2022, 23(10): 18478-18491.

DOI：10.1109/TITS.2022.3150565

• Asymptotic stability
• Stability criteria
• Topology
• Numerical stability
• Vehicle dynamics
• Network topology
• Fading channels
• Sampled control
• vehicle platoon
• undirected topology
• analog fading networks
• asymptotical stabilization

The work on this paper studies the combined effect of vehicle dynamics, sampling period and the quality of inter-vehicle sensing and communication on the performance of platoon control. First, we induce the sampled control protocol from continuous-time linear consensus protocol by employing zero-order hold circuit and periodic sampling technology, then by virtue of the obtained sampled control protocol, the continuous-time platoon system is equivalently transformed into a discrete-time system. Second, for the inter-vehicle communication with ideal channel and under undirected information flow topology (UIFT), the stability thresholds of control gains are explicitly established by solving a discrete-time simultaneous stabilization problem, bilinear transformation and the Routh-Hurwitz stability criterion. Meanwhile, to ensure the fastest asymptotic stability of the platoon dynamics, we propose an optimal asymptotic convergence factor and a correspondingly optimal sampled control protocol. Third, For the inter-vehicle communication with identical fading networks and under UIFT, through solving a modified Riccati inequality, we provide a sampled control protocol depending not only on information flow topology (IFT) and sampling period, but also on the statistics of the inter-vehicle communication channel. Besides, employing Lyapunov inequality in probability theory, we show a necessary condition for the sampled control protocol ensuring the platoon dynamics mean square stable. Finally, simulations are performed to demonstrate the theory's discoveries.