期刊
TRANSPORTATION RESEARCH PART B-METHODOLOGICAL
卷 125, 期 -, 页码 175-196出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.trb.2019.05.003
关键词
Car following control; Robust control; Robust local stability; Structured uncertainty; Robust string stability; Kharitonov theorem; Laplacian transformation; Extreme value theorem
类别
资金
- National Science Foundation-United States [CMMI 1536599]
This paper presents a robust car-following control strategy under uncertainty for connected and automated vehicles (CAVs). The proposed control is designed as a decentralized linear feedback and feedforward controller with a focus on robust local and string stability under (i) time-varying uncertain vehicle dynamics and (ii) time-varying uncertain communication delay. The former uncertainty is incorporated into the general longitudinal vehicle dynamics (GLVD) equation that regulates the difference between the desired acceleration (prescribed by the control model) and the actual acceleration by compensating for nonlinear vehicle dynamics (e.g., due to aerodynamic drag force). The latter uncertainty is incorporated into acceleration information received from the vehicle immediately ahead. As a primary contribution, this study derives and proves (i) a sufficient and necessary condition for local stability and (ii) sufficient conditions for robust string stability in the frequency domain using the Laplacian transformation. Simulation experiments verify the correctness of the mathematical proofs and demonstrate that the proposed control is effective for ensuring stability against uncertainties. Published by Elsevier Ltd.
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