Computation of the exact time delay margin for vehicle platoon under generic communication topologies  

作　　者：Xu Zhu Maode Yan Panpan Yang Yongtao Liu 

机构地区：[1]School of Electronic and Control Engineering,Chang'an University,Xi'an 710064,China [2]School of Automobile,Chang'an University,Xi'an 710064,China

出　　处：《Journal of Traffic and Transportation Engineering(English Edition)》2024年第4期761-775,共15页交通运输工程学报（英文版）

基　　金：supported in by National Natural Science Foundation of China(No.62003054,52372406);Key Research and Development Program of Shaanxi Province(Nos.2023-YBGY398);Fundamental Research Funds for the Central Universities(No.300102320109)。

摘　　要：Due to the limited bandwidth and transmission congestion of the vehicle platoon's communication,it is inevitable to induce time delay,which significantly degrades the control performance of the vehicle platoon,even resulting in instability.This paper focuses on analyzing the internal stability under generic communication topologies and presents a method of computing the exact time delay margin(ETDM).The proposed method can offer a necessary and sufficient internal stability condition with no conservatism.Firstly,to reduce the analytical complexity and computational burden elegantly,we decompose the closed-loop platoon dynamics into a set of individual subsystems via similarity transformation and matrix factorization.This decomposition approach is applicable for any general communication topology.Secondly,an explicit formula is deduced to compute the ETDM by surveying the characteristic roots'distribution of all these individual subsystems.It is further demonstrated that only the positive purely imaginary roots need to be considered to compute the ETDM.Finally,simulations are conducted to demonstrate the effectiveness of the theoretical claims.

关 键 词：Vehicle platoon Exact time delay margin Generic communication topologies System decomposition Characteristic roots'distribution 

分 类 号：U463.6[机械工程—车辆工程] U495[交通运输工程—载运工具运用工程]