Consensus Based Control Algorithm for Nonlinear Vehicle Platoons in the Presence of Time Delay

다국어 초록 (Multilingual Abstract)

The platoon control problem for nonlinear vehicles in the presence of time delay is investigated in thispaper, where both constant time delay and time-varying delay cases are considered. A linearized third-order vehicledynamic model is firstly derived by deploying the exact feedback linearization technique and the vehicle platooncontrol problem is converted into a consensus-seeking problem. Then, a consensus based vehicle platoon controlalgorithm with time delay is proposed, which drives vehicles to form an equally spaced platoon with the samevelocity. By deploying the Lyapunov-Razumikhin theorem, the upper bound of time delay for vehicle platoon withconstant time delay is derived and the sufficient conditions that guarantee the stability of the vehicle platoon areobtained. Meanwhile, the sufficient conditions that ensure the stability of vehicle platoon with time-varying delayare acquired via the Lyapunov-Krasovskii theorem. Numerical demonstrations verify the feasibility and correctnessof the theoretical results.

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