A Gain-Scheduled Robust H∞ Control for a Mixed Traffic System Travelling at Different Desired Speeds in the Presence of Delay
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Date
2022Type
- Conference Paper
ETH Bibliography
yes
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Abstract
In this paper, a mixed platoon on an openroad is studied, that includes one connected and automated vehicle (CAV) and multiple human-driven vehicles (HDVs). We represent the car-following behavior of HDVs by the optimal velocity model (OVM), while considering the driver reaction time as a delay in their dynamics. Also, we assume that the changes of traffic conditions result in a time-varying desired velocity. Considering a varying desired speed, reaction time delay, and parametric uncertainties in the HDV dynamics, a gain-scheduled robust H ∞ control strategy is developed, that can stabilize the traffic flow in the presence of undesired perturbations. We indicate the efficiency of the proposed static output-feedback controller through simulation results. Show more
Publication status
publishedExternal links
Book title
2022 IEEE 61st Conference on Decision and Control (CDC)Pages / Article No.
Publisher
IEEEEvent
Subject
Uncertainty; Delay effects; Simulation; Perturbation methods; Delays; Behavioral sciences; Vehicle dynamicsOrganisational unit
08686 - Gruppe Strassenverkehrstechnik
02655 - Netzwerk Stadt u. Landschaft ARCH u BAUG / Network City and Landscape ARCH and BAUG
Funding
188622 - Real-time traffic estimation and control in a connected environment (SNF)
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ETH Bibliography
yes
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