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专题讲座:Stability and scalability of homogeneous vehicular platoon: study on influence of information flow topologies

讲座专家:Dongpu Cao教授

讲座题目:Stability and scalability of homogeneous vehicular platoon: study on influence of information flow topologies

讲座时间:11月8日上午9:00-11:00

讲座地点:商船学院A308

讲座内容概括:In addition to decentralized controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This lecture studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation. A linearized vehicle longitudinal dynamic model is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and vehicle-to-vehicle (V2V) communications. Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion. The theorem explicitly establishes the stabilizing thresholds of linear controller gains for platoons, under a large class of different information flow topologies. Using matrix eigenvalue analysis, the scalability is investigated for platoons under two typical information flow topologies, i.e., 1) the stability margin of platoon decays to zero as 0(1/N2) for bidirectional topology; and 2) the stability margin is always bounded and independent of the platoon size for bidirectional-leader topology. Numerical simulations are used to illustrate the results.

 

Dongpu Cao教授

专长:

Electric and Hybrid Vehicles

Mechatronics & Advanced Controls

学术成就:

International Conferences

- Chair, Track, IEEE IEVC 2014, Italy (2014)
- Chair, Session (Road - Autonomous Driving/Functions, ADAS), IAVSD'2015
- Co-Chair, Technical Session, SAE World Congress, Detroit, USA (2009-2016)
- Co-Chair, Special Session, IEEE SMC 2013, UK (2013)
- Co-Chair, Invited Session, IEEE ICMC 2014, China (2014)
- Co-Chair, Workshop, IEEE IV 2012, Spain (2012)
- Co-Chair, Symposium, ASME AVTT, USA (2009-2012)
- Co-Chair, Technical Council, Intl Conf on VTI, China (2011, 2012)
- Co-Chair, Session, SAE ComVEC, USA (2008-2011)
- TPC, IEEE SMC 2014 (2014)
- TPC, Transport Track, IEEE Vehicular Technologies Conference (2010-2015)
- TPC, Intl Conf on Intelligent Robotics and Applications (ICIRA) (2012-2014)

SCI Journal Activities

Associate Editor, IEEE Transactions on Vehicular Technology (2011-now)

Associate Editor, IEEE Trans on Intelligent Transportation Systems (2015-now)

Associate Editor, IEEE Transactions on Industrial Electronics (2014-now)

Associate Editor, International Journal of Vehicle Design (2009-now)

Guest Editor, IEEE/ASME Transactions on Mechatronics (2014-2015)

Guest Editor, IEEE Transactions on Industrial Electronics (2014-2015)

Guest Editor, IEEE Transactions on Human-Machine Systems (2015-2016) Guest Editor, Vehicle System Dynamics (2008-2010)