LMI-Based Synthesis of String-Stable Controller for Cooperative Adaptive Cruise Control
Document Type
Article
Date of Original Version
11-1-2020
Abstract
Controller synthesis is a challenging problem in cooperative adaptive cruise control (CACC). Especially the requirement of string stability makes it even harder to choose appropriate control parameters. This paper applies a time-domain definition to string stability and converts the problem to the H ∞ control of a time-delay system. Based on the proposed control structure, the $\mathcal H ∞ norm and stability criteria of CACC are satisfied by a set of constraints in terms of a Lyapunov-Krasovskii functional candidate. These constraints are further reduced to linear matrix inequalities so that feasible solutions can be easily and efficiently computed. Simulations on an identified model validate the performance of our method in both frequency and time domains.
Publication Title, e.g., Journal
IEEE Transactions on Intelligent Transportation Systems
Volume
21
Issue
11
Citation/Publisher Attribution
Zhu, Yuanheng, Haibo He, and Dongbin Zhao. "LMI-Based Synthesis of String-Stable Controller for Cooperative Adaptive Cruise Control." IEEE Transactions on Intelligent Transportation Systems 21, 11 (2020): 4516-4525. doi: 10.1109/TITS.2019.2935510.