A guaranteed cost control for autonomous vehicle platoon with communication constraints

Abstract

A guaranteed cost control method for autonomous vehicle platoon with communication constraints (such as quantization, time-delay and packet-losses) is developed in this paper. Firstly, a vehicle model is established for the platoon's longitudinal movement, which is shown to be a great improvement of the existing models in that networked communication constraints are considered. Then, a guaranteed cost control algorithm is presented to overcome the communication constraints on the platoon. Under this controller, the platoon can be stable. The effectiveness of the proposed robust controller is demonstrated by simulation studies.