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# Robust control for cooperative driving system of heterogeneous vehicles with parameter uncertainties and communication constraints in the vicinity of traffic signals

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Taking heterogeneity, internal parameter uncertainties and communication constraints into account, the problem of cooperative driving system of heterogeneous vehicles is studied in the vicinity of traffic signals. This work studies the dynamics of heterogeneous vehicles and response performance from physical perspective and meanwhile analyzes the topology structure and communication constraints between vehicles and roadside equipment from cyber perspective. From the perspective of transportation cyber physical systems, cooperative driving model of heterogeneous vehicles with parameter uncertainties and communication constraints is constructed in the vicinity of traffic signals. We analyze robust stability by adopting Lyapunov–Krasovskii stability theory. According to the limitations of heterogeneity, dynamic uncertainties, communication delays and packet loss, the robust control strategies are proposed by using LMI (linear matrix inequality) method. Through theoretical analysis and numerical simulation, the validity and feasibility of research results are verified, which provides the guidance of control strategies for suppressing traffic congestion.
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Nonlinear Dyn (2020) 99:1659–1674
https://doi.org/10.1007/s11071-019-05382-y
ORIGINAL PAPER
Robust control for cooperative driving system of
heterogeneous vehicles with parameter uncertainties and
communication constraints in the vicinity of trafﬁc signals
Dong Chen ·Dihua Sun ·Hui Liu ·Min Zhao ·Yang Li ·Peng Wan
Received: 19 December 2018 / Accepted: 17 November 2019 / Published online: 27 November 2019
Abstract Taking heterogeneity, internal parameter
uncertainties and communication constraints into
account, the problem of cooperative driving system
of heterogeneous vehicles is studied in the vicinity of
trafﬁc signals. This work studies the dynamics of het-
erogeneous vehicles and response performance from
physical perspective and meanwhile analyzes the topol-
ogy structure and communication constraints between
vehicles and roadside equipment from cyber perspec-
tive. From the perspective of transportation cyber phys-
ical systems, cooperative driving model of heteroge-
neous vehicles with parameter uncertainties and com-
munication constraints is constructed in the vicinity of
trafﬁc signals. We analyze robust stability by adopt-
ing Lyapunov–Krasovskii stability theory. According
D. Chen ·D. Sun (B)·M. Zhao ·Y. L i ·P. Wa n
Key Laboratory of Dependable Service Computing in
Cyber Physical Society of Ministry of Education,
Chongqing University, Chongqing 400044,
People’s Republic of China
e-mail: d3sun@163.com
D. Chen
College of management science and engineering, Guangxi
University of Finance and Economics, Nanning, Guangxi
530003, People’s Republic of China
H. Liu
College of Mechanical and Electrical Engineering,
Chongqing University of Arts and Sciences, Chongqing
402160, People’s Republic of China
D. Chen ·D. Sun ·M. Zhao ·Y. L i ·P. Wa n
College of Automation, Chongqing University, Chongqing
400044, People’s Republic of China
to the limitations of heterogeneity, dynamic uncertain-
ties, communication delays and packet loss, the robust
control strategies are proposed by using LMI (linear
matrix inequality) method. Through theoretical analy-
sis and numerical simulation, the validity and feasibil-
ity of research results are veriﬁed, which provides the
guidance of control strategies for suppressing trafﬁc
congestion.
Keywords Robust control ·Cooperative driving
system ·Heterogeneity ·Communication constraints ·
Transportation cyber physical systems
1 Introduction
The emerging information and communication tech-
nologies (ICT) facilitate the development of coopera-
tive driving system (CDS), where the vehicles commu-
nicate with each other through Vehicle-to-Vehicle com-
munication (V2V) and with the infrastructures through
Vehicle-to-Infrastructure communication (V2I). V2V
and V2I are together referred to as V2X (Vehicle to
X) [13]. The feasibility and potential of cooperative
driving system have been conﬁrmed by demonstrative
experiments and application practices, which aims at
the compatibility of trafﬁc safety, efﬁciency, green and
comfort driving [4,5].
Cooperative driving system, an importation applica-
tion of transportation cyber physical systems (T-CPS),
is to guarantee that the vehicles maintain the desired
123
... Thus, the ITSs in recent years have been studied in numerous directions, such as the optimization of the traffic flow in urban traffic networks [2,3], autonomous driving with road condition identification and compliance with traffic rules [4][5][6][7][8][9][10][11]. Benefit from different planning algorithms and control technologies [12][13][14][15][16][17][18][19], the environment identification and driving stability of a single intelligent vehicle are greatly improved. However, it is more complicated for the research of a V2V system, since its hybrid characteristic involving distributed communication, automatic control and collision avoidance. ...
... e,i (t) to satisfies equations (14) by Eqs. (15)(16)(17). Let u e,i (t) be the first element of the optimal input sequence U e,i (t) and compute x e,i (t + ΔT e ) by equations (5)-(6). ...
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