Platooning of Connected Vehicles With Undirected Topologies: Robustness Analysis and Distributed H-infinity Controller Synthesis
Platooning of Connected Vehicles With Undirected Topologies: Robustness Analysis and Distributed H-infinity Controller Synthesis
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DOI：
10.1109/tits.2017.2726038
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发表时间：
2016-11
影响因子：
8.5
通讯作者：
Yang Zheng;S. Li;Keqiang Li;W. Ren
中科院分区：
文献类型：
--
作者：
Yang Zheng;S. Li;Keqiang Li;W. Ren
本文研究了一类无向拓扑的互联车辆编队的鲁棒性分析和分布式H ∞控制器设计问题。首先，我们用图论的方法建立了一个统一的模型来描述具有外部干扰的同质排的集体行为。通过利用对称矩阵的谱分解，车队的集体动力学等效分解成一组子系统共享相同的大小与一个单一的车辆。然后，我们提供了一个显式的缩放趋势的鲁棒性措施$\gamma $ -gain，并介绍了一个可扩展的多步骤的过程来综合分布式$\mathcal {H}_{\infty }$控制器的大规模排。结果表明，通信拓扑结构，特别是领导者的信息，鲁棒性能和控制器的综合产生很大的影响。此外，建立了一个直观的优化问题来优化队列系统的无向拓扑结构，并分析了目标的上界和下界，这表明多个小队列的协调是控制大规模队列的一种合理结构.数值模拟来说明我们的研究结果。
This paper considers the robustness analysis and distributed $\mathcal {H}_{\infty }$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the collective behavior of homogeneous platoons with external disturbances using graph theory. By exploiting the spectral decomposition of a symmetric matrix, the collective dynamics of a platoon is equivalently decomposed into a set of subsystems sharing the same size with one single vehicle. Then, we provide an explicit scaling trend of robustness measure $\gamma $ -gain, and introduce a scalable multi-step procedure to synthesize a distributed $\mathcal {H}_{\infty }$ controller for large-scale platoons. It is shown that communication topology, especially the leader’s information, exerts great influence on both robustness performance and controller synthesis. Furthermore, an intuitive optimization problem is formulated to optimize an undirected topology for a platoon system, and the upper and lower bounds of the objective are explicitly analyzed, which hints us that coordination of multiple mini-platoons is one reasonable architecture to control large-scale platoons. Numerical simulations are conducted to illustrate our findings.