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Robust control for cooperative driving system of heterogeneous vehicles with parameter uncertainties and communication constraints in the vicinity of traffic signals

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Abstract

Taking heterogeneity, internal parameter uncertainties and communication constraints into account, the problem of cooperative driving system of heterogeneous vehicles is studied in the vicinity of traffic signals. This work studies the dynamics of heterogeneous vehicles and response performance from physical perspective and meanwhile analyzes the topology structure and communication constraints between vehicles and roadside equipment from cyber perspective. From the perspective of transportation cyber physical systems, cooperative driving model of heterogeneous vehicles with parameter uncertainties and communication constraints is constructed in the vicinity of traffic signals. We analyze robust stability by adopting Lyapunov–Krasovskii stability theory. According to the limitations of heterogeneity, dynamic uncertainties, communication delays and packet loss, the robust control strategies are proposed by using LMI (linear matrix inequality) method. Through theoretical analysis and numerical simulation, the validity and feasibility of research results are verified, which provides the guidance of control strategies for suppressing traffic congestion.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant Nos. 61573075, 61803052), the Doctoral Research Project of Guangxi University of Finance and Economics (Grant No. BS2019027), the Foundation for High-level Talents of Chongqing University of Art and Sciences (Grant No. 2017RJD13) and the Natural Science Foundation of Chongqing (Grant No. cstc2017jcyjBX0001).

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Authors and Affiliations

  1. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing, 400044, People’s Republic of China

    Dong Chen, Dihua Sun, Min Zhao, Yang Li & Peng Wan

  2. College of management science and engineering, Guangxi University of Finance and Economics, Nanning, Guangxi, 530003, People’s Republic of China

    Dong Chen

  3. College of Mechanical and Electrical Engineering, Chongqing University of Arts and Sciences, Chongqing, 402160, People’s Republic of China

    Hui Liu

  4. College of Automation, Chongqing University, Chongqing, 400044, People’s Republic of China

    Dong Chen, Dihua Sun, Min Zhao, Yang Li & Peng Wan

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  1. Dong Chen
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  2. Dihua Sun
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  3. Hui Liu
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  4. Min Zhao
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  5. Yang Li
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Correspondence to Dihua Sun.

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Chen, D., Sun, D., Liu, H. et al. Robust control for cooperative driving system of heterogeneous vehicles with parameter uncertainties and communication constraints in the vicinity of traffic signals. Nonlinear Dyn 99, 1659–1674 (2020). https://doi.org/10.1007/s11071-019-05382-y

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