The connectivity among vehicles via the modern Vehicle-to- Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) technologies brings several issues due to the presence of trans-mission imperfections-prone communication channels. There-fore, it is required to carefully consider an uncertain communication structure during the design of distributed controllers for vehicular networks so to guarantee resilience and robustness, while avoiding dangerous events. To this aim, this work investigates the problem of autonomous connected vehicles platoon in the presence of multiple input delays and uncertain communication links arising during data transmission process. A distributed controller is proposed to solve this problem, which is able to debilitate the effect of uncertainties in the communication topology. The asymptotic stability of the entire vehicular network is analytically proven by leveraging Lyapunov-Krasovski method, which provides a delay and un-certain communication link dependent stability criteria in the form of Linear Matrix Inequalities (LMIs). The solution of these latter allows the proper tuning of the controller gains, while also relating them with the delay upper bound and the maximum communication uncertainties. Numerical analyses confirm the effectiveness and resilience of the theoretical derivation.
Distributed Resilient Control for autonomous connected vehicles platoon over uncertain V2X communication links / Caiazzo, B.; Di Rosa, F.; Lui, D. G.; Petrillo, A.; Santini, S.. - (2023), pp. 5241-5246. (Intervento presentato al convegno 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 tenutosi a esp nel 2023) [10.1109/ITSC57777.2023.10422157].
Distributed Resilient Control for autonomous connected vehicles platoon over uncertain V2X communication links
Caiazzo B.;Di Rosa F.;Lui D. G.;Petrillo A.;Santini S.
2023
Abstract
The connectivity among vehicles via the modern Vehicle-to- Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) technologies brings several issues due to the presence of trans-mission imperfections-prone communication channels. There-fore, it is required to carefully consider an uncertain communication structure during the design of distributed controllers for vehicular networks so to guarantee resilience and robustness, while avoiding dangerous events. To this aim, this work investigates the problem of autonomous connected vehicles platoon in the presence of multiple input delays and uncertain communication links arising during data transmission process. A distributed controller is proposed to solve this problem, which is able to debilitate the effect of uncertainties in the communication topology. The asymptotic stability of the entire vehicular network is analytically proven by leveraging Lyapunov-Krasovski method, which provides a delay and un-certain communication link dependent stability criteria in the form of Linear Matrix Inequalities (LMIs). The solution of these latter allows the proper tuning of the controller gains, while also relating them with the delay upper bound and the maximum communication uncertainties. Numerical analyses confirm the effectiveness and resilience of the theoretical derivation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
