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Robust Exponential H∞ Control for Autonomous Platoon against Actuator Saturation and Time-varying Delay

Wei Yue* and Liyuan Wang
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2579-2589, 2017

Abstract : "This paper is concerned with bidirectional autonomous platoon control with saturating actuator and timevarying delay. First, A new bidirectional platoon control system model is established, in which the effect of engine time uncertainty, actuator saturation and time-varying actuator delay is involved. Then, the robust exponential stability conditions of the platoon system are presented, only use information from its immediate neighbors. The theoretical results show that the proposed platoon controller would be able to safely maintain a smaller inter-vehicle spacing, less fuel and would be bidirectional string stable. Finally, some numerical simulations are provided to demonstrate the effectiveness and advantage of the presented methodology."

Keyword : Actuator saturation, bidirectional platoon, bidirectional string stable, time-varying actuator delay.

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