摘要
Due to the limited bandwidth and transmission congestion of the vehicle platoon's communication,it is inevitable to induce time delay,which significantly degrades the control performance of the vehicle platoon,even resulting in instability.This paper focuses on analyzing the internal stability under generic communication topologies and presents a method of computing the exact time delay margin(ETDM).The proposed method can offer a necessary and sufficient internal stability condition with no conservatism.Firstly,to reduce the analytical complexity and computational burden elegantly,we decompose the closed-loop platoon dynamics into a set of individual subsystems via similarity transformation and matrix factorization.This decomposition approach is applicable for any general communication topology.Secondly,an explicit formula is deduced to compute the ETDM by surveying the characteristic roots'distribution of all these individual subsystems.It is further demonstrated that only the positive purely imaginary roots need to be considered to compute the ETDM.Finally,simulations are conducted to demonstrate the effectiveness of the theoretical claims.
基金
supported in by National Natural Science Foundation of China(No.62003054,52372406)
Key Research and Development Program of Shaanxi Province(Nos.2023-YBGY398)
Fundamental Research Funds for the Central Universities(No.300102320109)。
作者简介
Xu Zhu Dr.received the M.S.and PhD degrees in control theory and control engineering from Northwestern Polytechnical University,China.He is currently an associate professor at School of Electronic and Control Engineering,Chang'an University,China.His research interests are vehicle platoon control,multi-UAV cooperative control,and fight control.E-mail addresses:zx@chd.edu.cn;Corresponding author:Maode Yan Dr.received the M.S.and PhD degrees from School of Marine Science and Technology,Northwestern Polytechnical University,China.He is currently a professor at School of Electronic and Control Engineering,Chang'an University.His research interests are networked control systems,intelligent measurement and control technology,vehicle platoon modeling and control,robots and their formation control,and embedded systems and applications.E-mail addresses:mdyan@chd.edu.cn;Dr.Panpan Yang received the M.S.degree in transportation information engineering and control from Chang'an University,China.He received the PhD degree in armament science and technology from Northwestern Polytechnical University,China.He is currently an associate professor at School of Electronic and Control Engineering,Chang'an University.His research interests are flocking system control,multi-robot formation control,and vehicle platoon control.E-mail addresses:panpanyang@chd.edu.cn;Corresponding author:Yongtao Liu Dr.is an associate professor at School of Automobile,Chang'an University.He received his PhD degree in vehicle engineering from Chang'an University,Xi'an,China,in 2015.Besides,he studied at the University of Wisconsin-Madison as a visiting scholar from 2013 to 2014.His research interests include vehicle safety design and intelligent vehicle control technology.E-mail addresses:liuyongtao86@163.com。
