Master Thesis

Dynamic Modeling and Distributed Control of Vehicular Platoon under the Four-Component Framework (in Chinese)
Yang Zheng
Department of Automotive Engineering, Tsinghua University, 2015

Abstract

Vehicular platoon has the potential to significantly mitigate traffic congestion, enhance road safety and improve fuel economy. Many existing research only focus on designning tools to analyze a specific platoon with single communication topology, which lacks a general framework to handle platoons with different information flow topologies. To address aforementioned issue, this thesis proposes a four-component framework for vehicular platoons, and within such framework, the closed-loop stability and robust performance are discussed for linear homogeneous platoons. Besides, this thesis introduces a design process of distributed model predictive control (DMPC) to deal with nonlinear heterogeneous platoons. The results in this thesis can provide tools and lay foundation to address performance analysis and controller design for vehicular platoons with different information flow topologies.

Related Publications

1. Platooning of Connected Vehicles with Undirected Topologies: Robustness Analysis and Distributed H-infinity Controller Synthesis
   Y. Zheng, S.E. Li, K.Q. Li and W. Ren
   IEEE Transactions on Intelligent Transportation Systems, 2017, accepted, to appear

2. Dynamical Modeling and Distributed Control of Connected and Automated Vehicles: Challenges and Opportunities
   S. E. Li*, Y. Zheng*, K.Q. Li, F. Gao, Y. Wu, H. Zhang and J. Karl Hedrick (* contributed equally to this work)
   IEEE Intelligent Transportation Systems Magazine, 2017, accepted, to appear

3. Distributed Model Predictive Control for Heterogeneous Platoon under Unidirectional Topologies
   Y. Zheng, S. E. Li, K.Q. Li, Francesco Borrelli, and J. Karl Hedrick
   IEEE Transactions on Control Systems Technology, 2017, accepted.

4. Stability Margin Improvement of Vehicular Platoon considering Undirected Topology and Asymmetric Control
   Y. Zheng, S. E. Li, ,K. Q. Li , and L.Y. Wang
   IEEE Transactions on Control Systems Technology, vol.24, no. 4, pp. 1253 - 1265, 2016

5. Stability and Scalability of Homogeneous Vehicular Platoon: Study on Influence of Information Flow Topologies
   Y. Zheng, S. E. Li, J.Q. Wang, D.P. Cao , and K. Q. Li
   IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 1, pp.14-26, 2016

6. Influence of Information Flow Topology on Closed-loop Stability of Vehicle Platoon with Rigid Formation (Best Student Paper Award)
   Y. Zheng, S. E. Li, , J.Q. Wang, L.Y. Wang , and K. Q. Li
   in 17th International IEEE conference on Intelligent Transportation Systems, pp. 2094-2100, 2014

7. An Overview of Vehicular Platoon Control under the Four-component Framework
   S. E. Li*, Y. Zheng*, K.Q. Li , J.Q. Wang (*contributed equally to this work)
   in 26th Intelligent Vehicle Symposium, IEEE proceedings, pp. 286-291, 2015

8. Scalability Limitation of Homogeneous Vehicular Platoon under Undirected Information Flow Topology and Constant Spacing Policy
   S. E. Li, Y. Zheng, K.Q. Li , J.Q. Wang
   34th Chinese Control Conference (CCC), IEEE, pp.8039-8045, 201