Distributed Data-Driven Control for a Connected Heterogeneous Vehicle Platoon Under Quantized and Switching Topologies Communication
Panpan Zhu, Shangtai Jin, Xuhui Bu, Zhongsheng Hou
Abstract
In this paper, a distributed data-driven control (DDC) method for a connected heterogeneous vehicle platoon under quantized and switching topologies communication is investigated. Firstly, based on the improved uniform quantizer and graph theory, the communication mode with quantized and switching topologies is designed. Then, a linearized dynamic data model named full-form dynamic linearization (FFDL) based on the input/output (I/O) data of the connected heterogeneous vehicle platoon is established, and a distributed data-driven control method is proposed. Theoretical analysis shows that the proposed DDC method can achieve uniform bounded convergence of the formation error. Finally, two numerical simulations are given based on the vehicle linearized third-order model and the vehicle longitudinal nonlinear dynamics. The simulation results are compared and analyzed, verifying the proposed algorithm's effectiveness and practicality.