This paper studies the vehicle platoon control problem for third-order heterogeneous vehicles with communication delay. It proposes a linear consensus control protocol with communication delay to maintain the stability of a heterogeneous vehicle platoon moving along a straight road, utilizing a predictive spacing strategy and assuming a lead vehicle with constant velocity. A linear heterogeneous state-space model is established for each vehicle and then a linear consensus control protocol is designed to keep equal spacing between any adjacent vehicles while maintaining the desired longitudinal velocity of the entire platoon. Through a linear transformation, the platoon consensus problem is equivalently transformed into a partial stability problem of a corresponding system with delay. The stability of the vehicle platoon with communication delay is analyzed by Lyapunov-Krasovskii functional method and the stability conditions are obtained. Finally, numerical simulation results demonstrate the effectiveness of the proposed platoon control scheme with communication delay.


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    Title :

    Vehicle Platoon Control with Communication Delay


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Jia, Limin (editor) / Yao, Dechen (editor) / Ma, Feng (editor) / Zhang, Liguo (editor) / Chen, Yuejian (editor) / Xue, Qingwan (editor) / Xue, Wangyan (author) / Chen, Yangzhou (author)

    Conference:

    International Conference on Artificial Intelligence and Autonomous Transportation ; 2024 ; Beijing, China December 06, 2024 - December 08, 2024



    Publication date :

    2025-03-28


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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