Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

Kaushik Halder, Umberto Montanaro, Lee Gillam, Mehrdad Dianati, David Oxtoby, Alexandros Mouzakitis, Saber Fallah

Abstract: This paper proposes a distributed control strategy for homogeneous platoon systems with external disturbances under random packet drop scenario which can occur due to underlying communication network among the vehicles in a platoon. A linear matrix inequality (LMI) based approach is used to obtain the controller gains for ensuring the stability with a bounded H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> norm. The effectiveness of the proposed method is demonstrated through numerical results considering different network topologies in a platoon under single packet drop. The H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> norm bound has been studied for different number of platoon members under the different structure of network topologies and the packet drop.