Tracking control of nonlinear singular vehicles with Markov switching topologies

This paper investigates tracking control of vehicular ad hoc networks (VANETs) with random switching topologies. The network topology by which the vehicles communicate with each other at any time is a directed graph (or digraph) with a spanning tree. The switching of topology is governed by a Markov chain. A set of distributed switching controllers for tracking control is derived in the context of stochastic stability analysis of Markovian jump systems. The obtained control protocol is topology-aware and hence applicable to VANETs with Markov switching topology. An experiments with Arduino cars show the efficiency of the proposed methods.

[1]  L. Ghaoui,et al.  A cone complementarity linearization algorithm for static output-feedback and related problems , 1996, Proceedings of Joint Conference on Control Applications Intelligent Control and Computer Aided Control System Design.

[2]  Ge Guo,et al.  Linear Systems With Medium-Access Constraint and Markov Actuator Assignment , 2010, IEEE Transactions on Circuits and Systems I: Regular Papers.

[3]  James Lam,et al.  Consensus control of multi-agent systems with missing data in actuators and Markovian communication failure , 2013, Int. J. Syst. Sci..

[4]  Ali Ghasemi,et al.  Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays , 2015 .

[5]  Ge Guo,et al.  Guaranteed Cost Adaptive Control of Nonlinear Platoons With Actuator Delay , 2012 .

[6]  Bartlomiej Placzek,et al.  Selective data collection in vehicular networks for traffic control applications , 2011, ArXiv.

[7]  Nathan van de Wouw,et al.  String stability of interconnected vehicles under communication constraints , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[8]  Nathan van de Wouw,et al.  Cooperative adaptive cruise control: Tradeoffs between control and network specifications , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[9]  Yu-Ping Tian,et al.  Consentability and protocol design of multi-agent systems with stochastic switching topology , 2009, Autom..

[10]  Ge Guo,et al.  Control Over Medium-Constrained Vehicular Networks With Fading Channels and Random Access Protocol: A Networked Systems Approach , 2015, IEEE Transactions on Vehicular Technology.

[11]  Fabio Graziosi,et al.  Communication Control and Driving Assistance to a Platoon of Vehicles in Heavy Traffic and Scarce Visibility , 2006, IEEE Transactions on Intelligent Transportation Systems.

[12]  W. L. Koning,et al.  Discrete-time Markovian jump linear systems , 1993 .

[13]  Xinzhi Liu,et al.  Distributed stochastic consensus of multi-agent systems with noisy and delayed measurements , 2013 .

[14]  Ge Guo,et al.  Autonomous Platoon Control Allowing Range-Limited Sensors , 2012, IEEE Transactions on Vehicular Technology.

[15]  Yuan Zhao,et al.  Cooperation of multiple mobile sensors with minimum energy cost for mobility and communication , 2014, Inf. Sci..

[16]  Shahram Azadi,et al.  Stable Decentralized Control of a Platoon of Vehicles With Heterogeneous Information Feedback , 2013, IEEE Transactions on Vehicular Technology.

[17]  Anis Laouiti,et al.  Vehicle Ad Hoc networks: applications and related technical issues , 2008, IEEE Communications Surveys & Tutorials.

[18]  Ge Guo,et al.  Hierarchical platoon control with heterogeneous information feedback , 2011 .

[19]  Lihua Xie,et al.  Consensus condition for linear multi-agent systems over randomly switching topologies , 2013, Autom..