This paper introduces a slip-aware networked vehicle model and proposes an adaptive time-delay control framework for connected autonomous driving systems’ cooperative adaptive cruise control and safety of the intended functionality. In order to improve the vehicular network safety by conveying the amount of longitudinal slip ratio along with the vehicle kinematic states, the innovative slip-aware model makes use of an auxiliary state variable representation that includes wheel slips. The proposed framework enables the formation of platoons consisting of vehicles from multiple manufacturers with similar dynamics, with each vehicle requiring state measurements and longitudinal slip information only from its preceding vehicle. To ensure robustness against external disturbances and model uncertainties, an artificial time-delayed control-based technique is implemented to control the entire networked vehicle system. In order to achieve disturbance rejection along the string of vehicles, control protocols have to be designed to ensure string stability of the whole vehicle platoon. The robust law is augmented with a dual-rate adaption law in order to tackle the over estimation and under estimation problem of switching gain. Subsequently, Lyapunov stability analysis is conducted to show that the inter-vehicular states are steered within a small region in the neighborhood of the origin, under the proposed adaptive-robust control scheme. Numerical simulations are also carried out to validate the robustness of the developed distributed control framework.

Rajasree Sarkar

Adaptive Time-Delay Control for Cooperative Platooning Considering Slip

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Journal Info

Category	Quartile
COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS	3