Hierarchical Control of Connected Vehicle Platoon by Simultaneously Considering the Vehicle Kinematics and Dynamics
Yongxin Zhu, Yongfu Li, Ao Jiao, Longwang Huang, Gang Huang, Wei Hua, Defeng He, Shengbo Eben Li, Xinbo Gao
Abstract
This article develops a hierarchical control strategy for connected vehicle (CV) platoon. To this end, the article first characterizes the communication connectivity between CVs using the predecessor-leader following (PLF) topology. Then, a hierarchical control strategy, consisting of first-level and second-level controllers, is proposed by simultaneously considering the vehicle kinematics and dynamics. In particular, the vehicle kinematic model-based controller is proposed in first-level by incorporating the nonlinear coupling and interaction between the CVs and the heterogeneous communication delays; and the vehicle dynamic model-based adaptive integral sliding-mode controller is designed in second-level according to the vehicle desired states obtained by the first-level controller and external disturbance. In addition, the delay-dependent convergence of the first-level controller and finite-time tracking of the second-level controller are rigorously analyzed, respectively. Further, the infinity-norm method is used to investigate the string stability. Eventually, the performance of the developed hierarchical control strategy is verified by extensive simulations, co-simulations and compared with existing methods.