Research On Modeling And Control Of Autonomous Platoon

Autonomous platoon control system is an uppermost subsystem of automated highway system. The systems significantly improve the current highway system efficiency and safety of operation via vehicle's automatic navigation and control. This dissertation investigates communication constraints; limited sensing range; platoon coupling; vehicle parameter uncertainty; nonlinearity dynamics in platoon model and their impact on the performance of the platoon.The problems of network induced time-delay and packet-dropout, disturbance of the lead vehicle's acceleration and the uncertainty in engine time constant are investigated. A hierarchical platoon controller design framework comprising a feedback linearization controller at the first layer and a guaranteed cost H。controller at the second layer is established. The guaranteed cost H∞controller is designed using novel techniques in robust control of time-delay systems under which the individual vehicle stability and string stability can be achieved simultaneously.The problems of onboard sensors have limited sensing range and the fueling/braking delays always exited in actuator are studied. A model of limited sensing range is established and combines with the controller structure. we proposed a variable guaranteed cost controller. The effectiveness and advantage of the presented methodology is demonstrated by experiments with laboratory scale Arduino cars.The problem of dynamic model of vehicle platoon is an overlapping system with interconnected subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expended into a higher dimensional space. Then, at each subsystem, a decentralized guaranteed cost controller is designed. At last, the decentralized controllers are contracted back to the original interconnected system for implementation.The problems of road slope and wind force is involved in the model of platoon's longitudinal movement, and the un-model dynamics and uncertainty in the vehicle are investigated. A guaranteed cost adaptive controller is derived by exploiting a Lyapunov function and a radial basis function neural network which can guaranteed the platoon system achieve a better performance.Finally, the results of the dissertation are summarized. and beneficial suggestions, instructive directions for future research on the topic of autonomous platoon control are provided.