Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

2020 ◽  
Vol 234 (14) ◽  
pp. 3362-3372
Author(s):  
Kritika Bansal ◽  
Pankaj Mukhija
Keyword(s):  
Communication Strategy ◽  
Energy Resources ◽  
Control Law ◽  
Time Varying ◽  
Sensor Faults ◽  
Time Varying Delay ◽  
System A ◽  
Event Triggering ◽  
Leader Following ◽  
Varying Delay

This paper addresses the problem of control of a vehicular platoon system with limited on-board resources in the presence of time-varying delay and sensor faults. A platoon system with predecessor-leader following topology in which each vehicle suffers from probabilistic sensor faults and time-varying delay is considered. To reduce the utilization of communication and energy resources in the system, a novel event-triggering communication strategy at the sensor-controller channel is proposed. Based on the proposed triggering strategy, a criteria for co-designing of the triggering parameter and the control law ensuring internal stability of the platoon system is developed. Furthermore, additional conditions are established for the obtained controller to guarantee string stability of the platoon system. The efficacy of the proposed methodology is demonstrated through numerical simulations.

Event-triggered control of vehicle platoon under deception attacks

2021 ◽  
pp. 095440702110433
Author(s):  
Kritika Bansal ◽  
Pankaj Mukhija
Keyword(s):  
Random Variable ◽  
Control Law ◽  
Cyber Attack ◽  
Time Varying Delay ◽  
System A ◽  
Event Triggering ◽  
Vehicle Platoon ◽  
Leader Following ◽  
Transmission Period ◽  
Varying Delay

This paper addresses the issue of control of a vehicle platoon system with limited on-board energy and communication resources and subjected to cyber-physical attacks. A platoon model for the predecessor-leader following topology under the effect of cyber-attack and time-varying delay is developed. A stochastic type deception attack is considered in this paper at the sensor-controller end of a vehicle. The probability of occurrence of attack is represented using a random variable. In addition, to reduce the usage of resources in a system, a decentralized event-triggering communication mechanism is proposed where each vehicle can decide independently on when to transmit its state to the controller. Further, the criteria for co-designing of control law and triggering parameter ensuring internal stability of the platoon system is developed based on the proposed triggering mechanism. A condition to achieve string stability for the controller is also obtained. Further, to avoid the problem of Zeno phenomena, a lower bound on the transmission period is presented. The effectiveness of the proposed methodology is established through simulation example.

Leader-following consensus of discrete-time multiagent systems with time-varying delay based on large delay theory

2017 ◽  
Vol 417 ◽  
pp. 236-246 ◽  
Author(s):  
Huiwei Liu ◽  
Hamid Reza Karimi ◽  
Shengli Du ◽  
Weiguo Xia ◽  
Chongquan Zhong
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Time Varying ◽  
Large Delay ◽  
Time Varying Delay ◽  
Leader Following ◽  
Varying Delay

scholarly journals Robust Fault Estimation for a Class of T-S Fuzzy Singular Systems with Time-Varying Delay via Improved Delay Partitioning Approach

2016 ◽  
Vol 2016 ◽  
pp. 1-15 ◽  
Author(s):  
Chao Sun ◽  
FuLi Wang ◽  
XiQin He
Keyword(s):  
Singular Systems ◽  
Singular System ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Time Varying ◽  
Time Varying Delay ◽  
System A ◽  
Delay Dependent ◽  
Takagi Sugeno ◽  
Varying Delay

The problem of delay-dependent robust fault estimation for a class of Takagi-Sugeno (T-S) fuzzy singular systems is investigated. By decomposing the delay interval into two unequal subintervals and with a new and tighter integral inequality transformation, an improved delay-dependent stability criterion is given in terms of linear matrix inequalities (LMIs) to guarantee that the fuzzy singular system with time-varying delay is regular, impulse-free, and stable firstly. Then, based on this criterion, by considering the system fault as an auxiliary disturbance vector and constructing an appropriate fuzzy augmented system, a fault estimation observer is designed to ensure that the error dynamic system is regular, impulse-free, and robustly stable with a prescribedH∞performance satisfied for all actuator and sensor faults simultaneously, and the obtained fault estimates can practically better depict the size and shape of the faults. Finally, numerical examples are given to show the effectiveness of the proposed approach.

scholarly journals Matrix Inequalities Based Robust Model Predictive Control for Vehicle Considering Model Uncertainties, External Disturbances, and Time-Varying Delay

2021 ◽  
Vol 14 ◽  
Author(s):  
Wenjun Liu ◽  
Guang Chen ◽  
Alois Knoll
Keyword(s):  
Cost Function ◽  
Infinite Horizon ◽  
Control Law ◽  
Time Varying ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Robust Model Predictive Control ◽  
Time Varying Delay ◽  
Robust Model ◽  
Varying Delay

In this paper, we design a robust model predictive control (MPC) controller for vehicle subjected to bounded model uncertainties, norm-bounded external disturbances and bounded time-varying delay. A Lyapunov-Razumikhin function (LRF) is adopted to ensure that the vehicle system state enters in a robust positively invariant (RPI) set under the control law. A quadratic cost function is selected as the stage cost function, which yields the upper bound of the infinite horizon cost function. A Lyapunov-Krasovskii function (LKF) candidate related to time-varying delay is designed to obtain the upper bound of the infinite horizon cost function and minimize it at each step by using matrix inequalities technology. Then the robust MPC state feedback control law is obtained at each step. Simulation results show that the proposed vehicle dynamic controller can steer vehicle states into a very small region near the reference tracking signal even in the presence of external disturbances, model uncertainties and time-varying delay. The source code can be downloaded on https://github.com/wenjunliu999.

Consensus of high-order feed-forward non-linear systems with low gain and communication constraints

2018 ◽  
Vol 41 (4) ◽  
pp. 1101-1109
Author(s):  
Xuehui Mei ◽  
Zhiyong Yu ◽  
Haijun Jiang ◽  
Cheng Hu
Keyword(s):  
High Order ◽  
Communication Strategy ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Feed Forward ◽  
Agent Systems ◽  
Time Varying Delay ◽  
Non Linear ◽  
Multi Agent ◽  
Varying Delay

In this paper, the consensus problem of high-order multi-agent systems with inherent feed-forward delayed non-linear dynamics is investigated. First, a new kind of aperiodically intermittent communication strategy, which can be regarded as an extension of continuous communication, is proposed. The time-varying delay is considered in the multi-agent systems and the delay is not restricted to less than the communication width. Moreover, in order to reach a consensus, the effect of the feed-forward non-linearity and the time-varying delay is eliminated by designing a low-gain control protocol. Based on Lyapunov stability theory, graph theory and inequality techniques, some sufficient conditions related to the input gain and the communication width are obtained for achieving the consensus. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed method.

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