Event-Based Control and Scheduling of a Platoon of Vehicles in VANETs

• Published in: IEEE access Vol. 9; pp. 166223 - 166233
• Main Authors: Wu, Ligang, Zhang, Liang, Zhou, Qian
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: access constraints; Automobiles; Co-design; Constraint modelling; Cost function; Delays; Dynamic scheduling; event-based control; Generators; Mobile ad hoc networks; Optimization; Packets (communication); packets disorder; Platoon control system; Platooning; Scheduling; Sensors; variable communication delays; Vehicle dynamics; Vehicular ad hoc networks
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2021.3135439

This paper investigates the vehicular platoon control problem subject to variable communication delays, packets disorder, access constraints and resource constraints in vehicular and hoc networks (VANETs). Using a novel representation of the network delays as an uncertain variable belonging to the different bounded intervals, the discrete-time variable sampling interval platoon model is established with communication constraints. An event-based control and scheduling (EBCS) codesign strategy that can robustly stabilize the platoon system is given. Based on this model and a guaranteed performance cost function, the aforementioned problem is formulated as an LMI optimization problem, which can guarantee the Global Uniform Practical Stability (GUPS). A numerous simulation and experiments with laboratory scale Arduino cars show the efficiency and practicability of the proposed methods.