Platooning of Connected Vehicles with Directed Graph: $H_\infty$ Robustness Analysis and Synthesis

TL;DR

This paper develops a robust ${H}_ Infty$ control framework for vehicle platooning with directed communication graphs, addressing challenges posed by asymmetry in the network topology and demonstrating improved robustness through weighting parameters.

Contribution

It introduces a novel weighting parameter approach for ${H}_ Infty$ control design in directed vehicle platooning networks, enhancing robustness and feedback high gain handling.

Findings

Weighting parameters improve robustness in directed platooning networks.

The method effectively handles feedback high gain issues.

Simulations validate the approach with real-world data.

Abstract

This paper revisits the robustness analysis and distributed ${ H}_\infty$ controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the symmetry of Laplace matrix. It is well known that the same problem is more challenging for the \emph{directed} topology, since the Laplace matrix ceases to be symmetric. In this paper, the problem is solved by introducing more weighting parameters and setting suitable values for them. Then we show that the introduced weighting parameters lead to a positive effect on robustness, and solve the problem of feedback high gain. Finally, two numerical simulations and a practical simulation based on Next Generation Simulation (NGSIM) dataset are used to illustrate the effectiveness of our method.