|Consensus Based Control Algorithm for Nonlinear Vehicle Platoons in the Presence of Time Delay
Panpan Yang*, Ye Tang, Maode Yan, and Xu Zhu
International Journal of Control, Automation, and Systems, vol. 17, no. 3, pp.752-764, 2019
Abstract : "The platoon control problem for nonlinear vehicles in the presence of time delay is investigated in this
paper, where both constant time delay and time-varying delay cases are considered. A linearized third-order vehicle
dynamic model is firstly derived by deploying the exact feedback linearization technique and the vehicle platoon
control problem is converted into a consensus-seeking problem. Then, a consensus based vehicle platoon control
algorithm with time delay is proposed, which drives vehicles to form an equally spaced platoon with the same
velocity. By deploying the Lyapunov-Razumikhin theorem, the upper bound of time delay for vehicle platoon with
constant time delay is derived and the sufficient conditions that guarantee the stability of the vehicle platoon are
obtained. Meanwhile, the sufficient conditions that ensure the stability of vehicle platoon with time-varying delay
are acquired via the Lyapunov-Krasovskii theorem. Numerical demonstrations verify the feasibility and correctness
of the theoretical results."
Consensus, feedback linearization, nonlinear vehicle dynamics, time delay, vehicle platoon.