Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays

Mario Di Bernardo, Alessandro Salvi, Stefania Santini

Research output: Contribution to journalArticle (Academic Journal)peer-review

229 Citations (Scopus)

Abstract

We analyze and solve the platooning problem by treating it as the problem of achieving consensus in a network of dynamical systems affected by time-varying heterogeneous delays due to wireless communication among vehicles. Specifically, a platoon is modeled as a dynamical network where: 1) each vehicle, with its own dynamics, is a node; 2) the presence of communication links between neighboring vehicles is represented by edges; and 3) the structure of the intervehicle communication is encoded in the network topology. A distributed control protocol, which acts on every vehicle in the platoon, is derived. It is composed of two terms: a local action depending on the state variables of the vehicle itself (measured onboard) and an action depending on the information received from neighboring vehicles through the communication network. The stability of the platoon is proven by using Lyapunov-Razumikhin theorem. Numerical results are included to confirm and illustrate the theoretical derivation.

Original languageEnglish
Article number6891349
Pages (from-to)102-112
Number of pages11
JournalIEEE Transactions on Intelligent Transportation Systems
Volume16
Issue number1
DOIs
Publication statusPublished - 1 Feb 2015

Keywords

  • Agent-based control
  • Consensus
  • Control of complex network systems
  • Intelligent transportation systems
  • Platooning

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