Internal and String Stability Analysis for Vehicle Platooning under the MPF Topology under Communication Limitations

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Journal Title
Journal ISSN
Volume Title
School of Electrical Engineering | Doctoral thesis (article-based) | Defence date: 2023-12-01
Date
2023
Major/Subject
Mcode
Degree programme
Language
en
Pages
90 + app. 76
Series
Aalto University publication series DOCTORAL THESES, 182/2023
Abstract
This thesis focuses on the analysis of internal stability and string stability of vehicle platoons under the multiple-predecessor following (MPF) topology, a configuration intended to lower the minimum employable time headway and increase road throughput. Within the scope of this thesis, stability is investigated for three important scenarios: in the presence of homogeneous delays, heterogeneous delays, and an observer-based controller. In the first scenario, it is assumed that vehicle-to-vehicle (V2V) communications cause the platoon to experience a constant homogenous time delay. The internal stability and string stability are then analyzed for two cases: when all data comes from the delayed network, and when onboard sensors are also employed, providing delay-free but limited information. A lower bound for the time headway is also proposed for both aforementioned cases. The second scenario focuses on the investigation of string stability for a very general case of heterogeneous vehicle platoons with the MPF topology. More specifically, we look at the following forms of heterogeneity: different parasitic lags, different time headways, different controller parameters, and most importantly, different communication time delays. Finding a lower bound for the time headway is also studied for this scenario. Finally, we propose a distributed observer-based controller as an alternative to the conventional proportional integral derivative (PID) controllers. This new controller can guarantee the internal and string stability of the platoon system and achieve a high platooning control performance. Furthermore, an algorithm is presented to find the minimum available value of the time headway.
Description
Supervising professor
Charalambous, Themistoklis, Prof., Aalto University, Department of Electrical Engineering and Automation, Finland
Keywords
vehicle platoons, MPF topology
Other note
Parts
  • [Publication 1]: Elham Abolfazli, Bart Besselink, and Themistoklis Charalambous. On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays. IEEE Transactions on Intelligent Transportation Systems, 14 pages, June 2021.
    DOI: 10.1109/TITS.2021.3087484 View at publisher
  • [Publication 2]: Elham Abolfazli, Bart Besselink, and Themistoklis Charalambous. Reducing time headway in platoons under the MPF topology in the presence of communication delays. In IFAC World Congress, Berlin, Germany, 8 pages, July 2020.
    DOI: 10.1016/j.ifacol.2020.12.2319 View at publisher
  • [Publication 3]: Elham Abolfazli, Bart Besselink, and Themistoklis Charalambous. Reducing time headway in platoons under the MPF topology when using sensors and wireless communications. In IEEE Conference on Decision and Control (CDC), Jeju Island, Republic of Korea, 8 pages, December 2020.
    Full text in Acris/Aaltodoc: http://urn.fi/URN:NBN:fi:aalto-202102262043
    DOI: 10.1109/CDC42340.2020.9304496 View at publisher
  • [Publication 4]: Wei Jiang, Elham Abolfazli, and Themistoklis Charalambous. Observer based Control for Vehicle Platooning with a Leader of Varying Velocity. In European Control Conference (ECC), Rotterdam, The Netherlands, 8 pages, July 2021.
    Full text in Acris/Aaltodoc: http://urn.fi/URN:NBN:fi:aalto-202203032071
    DOI: 10.23919/ECC54610.2021.9655140 View at publisher
  • [Publication 5]: Elham Abolfazli, Wei Jiang, and Themistoklis Charalambous. Towards Establishing String Stability Conditions For Heterogeneous Vehicle Platoons under the MPF Topology . In European Control Conference (ECC), London, United Kingdom, 7 pages, July 2022.
    Full text in Acris/Aaltodoc: http://urn.fi/URN:NBN:fi:aalto-202209145564
    DOI: 10.23919/ECC55457.2022.9838302 View at publisher
  • [Publication 6]: Elham Abolfazli, Bart Besselink, and Themistoklis Charalambous. Minimum Time Headway in Platooning Systems under the MPF Topology for Different Wireless Communication Scenarios. IEEE Transactions on Intelligent Transportation Systems, 14 pages, February2023.
    Full text in Acris/Aaltodoc: http://urn.fi/URN:NBN:fi:aalto-202303072337
    DOI: 10.1109/TITS.2023.3239655 View at publisher
  • [Publication 7]: Wei Jiang, Elham Abolfazli, and Themistoklis Charalambous. Internal and String Stability of an Observer-based Controller for Vehicle Platooning under the MPF Topology. Submitted, 16 pages, June 2022
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