TY - JOUR
T1 - Cooperative Startup Control for Heterogeneous Vehicle Platoons
T2 - A Finite-Time Output Tracking-Based Approach
AU - Du, Changkun
AU - Bian, Yougang
AU - Liu, Haikuo
AU - Ren, Wei
AU - Lu, Pingli
AU - Liu, Xiangdong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2021/12/1
Y1 - 2021/12/1
N2 - The connected vehicle (CV) technology has emerged in recent years. This article studies cooperative startup control of heterogeneous CVs in a platoon. First, from the perspective of cooperative tracking of heterogeneous multiagent systems, a hierarchical finite-time control framework is established, which consists of an upper-level interactive observer layer and a lower-level local controller layer. By separating neighboring information interaction from local dynamics control, the proposed framework allows to design upper-level observers and lower-level local controllers separately. Second, by introducing a potential function related to the consensus and observing errors, a distributed finite-time observer is designed for each CV to observe a startup reference trajectory available for only part of the CVs. Third, a distributed local finite-time controller is designed for each CV to track its observed startup reference trajectories. Within the proposed framework, finite-time observing and tracking of the startup reference trajectory are strictly proved to guarantee cooperative startup control. Numerical simulations are carried out to demonstrate the effectiveness of the proposed methods.
AB - The connected vehicle (CV) technology has emerged in recent years. This article studies cooperative startup control of heterogeneous CVs in a platoon. First, from the perspective of cooperative tracking of heterogeneous multiagent systems, a hierarchical finite-time control framework is established, which consists of an upper-level interactive observer layer and a lower-level local controller layer. By separating neighboring information interaction from local dynamics control, the proposed framework allows to design upper-level observers and lower-level local controllers separately. Second, by introducing a potential function related to the consensus and observing errors, a distributed finite-time observer is designed for each CV to observe a startup reference trajectory available for only part of the CVs. Third, a distributed local finite-time controller is designed for each CV to track its observed startup reference trajectories. Within the proposed framework, finite-time observing and tracking of the startup reference trajectory are strictly proved to guarantee cooperative startup control. Numerical simulations are carried out to demonstrate the effectiveness of the proposed methods.
KW - Connected vehicles
KW - finite-time platoon control
KW - heterogeneous multiagent systems
KW - output tracking
UR - http://www.scopus.com/inward/record.url?scp=85107179889&partnerID=8YFLogxK
U2 - 10.1109/TCNS.2021.3084463
DO - 10.1109/TCNS.2021.3084463
M3 - Article
AN - SCOPUS:85107179889
SN - 2325-5870
VL - 8
SP - 1767
EP - 1777
JO - IEEE Transactions on Control of Network Systems
JF - IEEE Transactions on Control of Network Systems
IS - 4
ER -