Decentralized optimal control of a vehicle platoon with guaranteed string stability

Fabio Morbidi (1, 2) , Patrizio Colaneri (3) , Thomas Stanger (4)

1 NECS - Networked Controlled Systems
2 GIPSA-lab - Grenoble Images Parole Signal Automatique
3 DEI - Dipartimento di Elettronica e Informazione
4 Institute for Design and Control of Mechatronical Systems

This paper presents new decentralized optimal strategies for Cooperative Adaptive Cruise Control (CACC) of a car platoon under string-stability constraints. Two related scenarios are explored in the article: in the first one, a linear-quadratic regulator in the presence of measurable disturbances is synthesized, and the string-stability of the platoon is enforced over the controller's feedback and feedforward gains. In the second scenario, H2- and Hinf-performance criteria, respectively accounting for the desired group behavior and the string-stability of the platoon, are simultaneously achieved using the recently-proposed compensator blending method. An analytical study of the impact of actuation/communication delays and uncertain model parameters on the stability of the multi-vehicle system, is also conducted. The theory is illustrated via numerical simulations.

Domaines: Automatique

Fabio Morbidi, Patrizio Colaneri, Thomas Stanger. Decentralized optimal control of a vehicle platoon with guaranteed string stability. ECC 2013 - 12th biannual European Control Conference, Jul 2013, Zurich, Switzerland. pp.3494-3499. ⟨hal-00961553⟩