Feedback-based platoon control for connected autonomous vehicles under different communication network topologies
Yongfu Li, Kezhi Li, Linqin Cai, Hao Zhu, Fenglan Sun · 2016
This study proposes a feedback-based platoon control protocol for connected autonomous vehicles (CAVs) under different communication network topologies. In particular, the graph theory is used to describe the communication network topologies among CAVs. Subsequently, the feedback-based protocol is proposed to control the vehicular platoon. In addition, the stability and consensus of the proposed protocol are analyzed using the Lyapunov technique and the LaSalle's invariance principle. Effects of different communication network topologies on convergence and robustness of platoon control are investigated. Results from numerical experiments demonstrate the effectiveness of the proposed protocol with respect to the position and velocity consensus in terms of the convergence time and robustness.