Stability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologies

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dc.contributor.authorZheng, Yang
dc.contributor.authorLi, Shengbo Eben
dc.contributor.authorWang, Jianqiang
dc.contributor.authorCao, Dongpu
dc.contributor.authorLi, Keqiang
dc.date.accessioned2017-03-06T10:33:08Z
dc.date.available2017-03-06T10:33:08Z
dc.date.issued2015-03-06
dc.description.abstractIn addition to decentralized controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This paper studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation. A linearized vehicle longitudinal dynamic model is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and vehicle-to-vehicle (V2V) communications. Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion. The theorem explicitly establishes the stabilizing thresholds of linear controller gains for platoons, under a large class of different information flow topologies. Using matrix eigenvalue analysis, the scalability is investigated for platoons under two typical information flow topologies, i.e., 1) the stability margin of platoon decays to zero as 0(1/N2) for bidirectional topology; and 2) the stability margin is always bounded and independent of the platoon size for bidirectional-leader topology. Numerical simulations are used to illustrate the results.en_UK
dc.identifier.citationYang Zheng, Shengbo Eben Li, Jianqiang Wang, Dongpu Cao and Keqiang Li. Stability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologies. IEEE Transactions on Intelligent Transportation Systems, Volume: 17, Issue: 1, January 2016, pp14-26en_UK
dc.identifier.issn1524-9050
dc.identifier.urihttp://dx.doi.org/10.1109/TITS.2015.2402153
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/11566
dc.language.isoenen_UK
dc.publisherInstitute of Electrical and Electronics Engineersen_UK
dc.rights(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works
dc.subjectVehiclesen_UK
dc.subjectTopologyen_UK
dc.subjectVehicle dynamicsen_UK
dc.subjectScalabilityen_UK
dc.subjectNumerical stabilityen_UK
dc.subjectStability criteriaen_UK
dc.titleStability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologiesen_UK
dc.typeArticleen_UK

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