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- W2914973195 abstract "Abstract This paper investigates cooperative control of vehicle platoons, focusing on the effect of medium access control (MAC) protocol and unreliable measurement on acceleration information. A Markov chain is used to describe the randomness in vehicular network access under a MAC protocol; a reduced-order observer is proposed to estimate the relative acceleration of neighboring vehicles. Based on stochastic system techniques, a series of sufficient conditions for the existence of the observer-based controller are given in the form of backward recursive Riccati Difference Equations (RDE). A controller–estimator design algorithm is derived to determine the controller and observer gains with which the disturbance of the preceding vehicle acceleration can be eliminated and string stability and zero steady-state velocity error performance can be guaranteed. Both numerical simulations and experiments with laboratory-scale Arduino cars are given to verify the effectiveness and practicability of the proposed algorithm." @default.
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- W2914973195 date "2019-05-01" @default.
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- W2914973195 title "Observer-based control of vehicle platoons with random network access" @default.
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- W2914973195 doi "https://doi.org/10.1016/j.robot.2019.02.006" @default.
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