Dynamic Event-Triggered Scheduling and Platooning Control Co-Design for Automated Vehicles Over Vehicular Ad-Hoc Networks

Xiaohua Ge; Shunyuan Xiao; Qing-Long Han; Xian-Ming Zhang; Derui Ding

doi:10.1109/JAS.2021.1004060

Volume 9 Issue 1

Jan. 2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2022 > 9(1): 31-46

X. Ge, S. Xiao, Q.-L. Han, X.-M. Zhang, and D. Ding, “Dynamic event-triggered scheduling and platooning control co-design for automated vehicles over vehicular ad-hoc networks,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 1, pp. 31–46, Jan. 2022. doi: 10.1109/JAS.2021.1004060

Citation:

X. Ge, S. Xiao, Q.-L. Han, X.-M. Zhang, and D. Ding, “Dynamic event-triggered scheduling and platooning control co-design for automated vehicles over vehicular ad-hoc networks,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 1, pp. 31–46, Jan. 2022. doi: 10.1109/JAS.2021.1004060

Citation:

X. Ge, S. Xiao, Q.-L. Han, X.-M. Zhang, and D. Ding, “Dynamic event-triggered scheduling and platooning control co-design for automated vehicles over vehicular ad-hoc networks,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 1, pp. 31–46, Jan. 2022. doi: 10.1109/JAS.2021.1004060

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Dynamic Event-Triggered Scheduling and Platooning Control Co-Design for Automated Vehicles Over Vehicular Ad-Hoc Networks

doi: 10.1109/JAS.2021.1004060

School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Melbourne, VIC 3122, Australia

Funds: This work was supported in part by the Australian Research Council Discovery Early Career Researcher Award under Grant DE200101128

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Author Bio:
Xiaohua Ge (M’18-SM’21) received the B.Eng. degree in electronics and information engineering from Nanchang Hangkong University, Nanchang, China, in 2008, the M.Eng. degree in control theory and control engineering from Hangzhou Dianzi University, Hangzhou, China, in 2011, and the Ph.D. degree in computer engineering from Central Queensland University, Rockhampton, QLD, Australia, in 2014. From 2011 to 2013, he was a Research Assistant with the Centre for Intelligent and Networked Systems, Central Queensland University, where he was a Research Fellow in 2014. From 2015 to 2017, he was a Research Fellow with the Griffith School of Engineering, Griffith University, Gold Coast, QLD, Australia. He is currently a Senior Lecturer with the School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, Australia. His research interests include networked, event-triggered, secure, and intelligent control and estimation, and their applications in autonomous vehicles and connected vehicles. Dr. Ge received The 2019 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, The 2020 IEEE/CAA Journal of Automatica Sinica Outstanding Reviewer Award, and The 2017 IEEE Transactions on Cybernetics Outstanding Reviewer Award. He is an Associate Editor of the IEEE TRANSACTION ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS and a Guest Editor for several Special Issues

Shunyuan Xiao received his B.Eng. degree in Electrical Engineering and Automation from Nanjing University of Science and Technology, China, in 2014. He is currently pursuing the Ph.D. degree in control engineering at Swinburne University of Technology, Australia. His research interests include event-triggered and secure filtering and control of networked systems and their applications in automated vehicles and power grids

Qing-Long Han (M’09-SM’13-F’19) received the B.Sc. degree in Mathematics from Shandong Normal University, Jinan, China, in 1983, and the M.Sc. and Ph.D. degrees in Control Engineering from East China University of Science and Technology, Shanghai, China, in 1992 and 1997, respectively. Professor Han is Pro Vice-Chancellor (Research Quality) and a Distinguished Professor at Swinburne University of Technology, Melbourne, Australia. He held various academic and management positions at Griffith University and Central Queensland University, Australia. His research interests include networked control systems, multi-agent systems, time-delay systems, smart grids, unmanned surface vehicles, and neural networks. Professor Han was a Highly Cited Researcher in both Engineering and Computer Science (Clarivate Analytics, 2019–2020). He was one of Australia’s Top 5 Lifetime Achievers (Research Superstars) in Engineering and Computer Science (The Australian’s 2020 Research Magazine). He was the recipient of The 2021 M. A. Sargent Medal (the Highest Award of the Electrical College Board of Engineers Australia), The 2020 IEEE Systems, Man, and Cybernetics (SMC) Society Andrew P. Sage Best Transactions Paper Award, The 2020 IEEE Transactions on Industrial Informatics Outstanding Paper Award, and The 2019 IEEE SMC Society Andrew P. Sage Best Transactions Paper Award. Professor Han is a Member of the Academia Europaea (The Academy of Europe) and a Fellow of The Institution of Engineers Australia. He has served as an AdCom Member of IEEE Industrial Electronics Society (IES), a Member of IEEE IES Fellow Committee, and Chair of IEEE IES Technical Committee on Networked Control Systems. He is Co-Editor of Australian Journal of Electrical and Electronic Engineering, an Associate Editor for 12 international journals, including the IEEE TRANSACTIONS ON CYBERNETICS, the IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, IEEE INDUSTRIAL ELECTRONICS MAGAZINE, the IEEE/CAA JOURNAL OF AUTOMATICA SINICA, Control Engineering Practice, and Information Sciences and Computing, and a Guest Editor for 13 Special Issues

Xian-Ming Zhang (M’16-SM’18) received the M.Sc. degree in Applied Mathematics and the Ph.D. degree in Control Theory and Control Engineering from Central South University, Changsha, China, in 1992 and 2006, respectively. In 1992, he joined Central South University, where he was an Associate Professor with the School of Mathematics and Statistics. From 2007 to 2014, he was a Post-Doctoral Research Fellow and a Lecturer with the School of Engineering and Technology, Central Queensland University, Rockhampton, QLD, Australia. From 2014 to 2016, he was a Lecturer with the Griffith School of Engineering, Griffith University, Gold Coast, QLD, Australia. In 2016, he joined the Swinburne University of Technology, Melbourne, VIC, Australia, where he is currently an Associate Professor with the School of Software and Electrical Engineering. His current research interests include H-infinity filtering, event-triggered control systems, networked control systems, neural networks, distributed systems, and time-delay systems. Associate Professor Zhang was a recipient of second National Natural Science Award in China in 2013, and first Hunan Provincial Natural Science Award in Hunan Province in China in 2011, both jointly with Prof. M. Wu and Prof. Y. He. He was also the recipient of The 2020 IEEE Transactions on Industrial Informatics Outstanding Paper Award, The 2019 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, and The 2016 IET Control Theory and Applications Premium Award. He is an Associate Editor of the IEEE TRANSACTIONS ON CYBERNETICS, Journal of the Franklin Institute, International Journal of Control, Automation, and Systems, Neurocomputing, and Neural Processing Letters

Derui Ding (M’16-SM’20) received both the B.Sc. degree in Industry Engineering in 2004 and the M.Sc. degree in Detection Technology and Automation Equipment in 2007 from Anhui Polytechnic University, Wuhu, China, and the Ph.D. degree in Control Theory and Control Engineering in 2014 from Donghua University, Shanghai, China. From July 2007 to December 2014, he was a Teaching Assistant and then a Lecturer in the Department of Mathematics, Anhui Polytechnic University, Wuhu, China. From June 2012 to September 2012, he was a Research Assistant in the Department of Mechanical Engineering, the University of Hong Kong, Hong Kong China. From March 2013 to March 2014, he was a visiting scholar in the Department of Information Systems and Computing, Brunel University London, UK. He is currently a senior research fellow with the School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, Australia. His research interests include nonlinear stochastic control and filtering, as well as multi-agent systems and sensor networks. Dr. Ding was the recipient of The 2020 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, and The 2018 IET Control Theory and Applications Premium Award. He has authored or coauthored around 80 papers in refereed international journals. He is an Associate Editor for Neurocomputing and IET Control Theory & Applications. He is also a very active reviewer for many international journals
Corresponding author: Qing-Long Han, e-mail: qhan@swin.edu.au
Received Date: 2021-01-21
Revised Date: 2021-03-09
Accepted Date: 2021-04-17

Available Online: 2021-04-25

Abstract

Abstract

This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks (VANETs) subject to finite communication resource. First, a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input. Under such a platoon model, the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader, while attaining improved communication efficiency. Toward this aim, a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed. One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status. Then, a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived. Finally, simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.
- Automated vehicles,
- dynamic event-triggered communication,
- information flow topology,
- platooning control,
- vehicular ad-hoc networks (VANETs)

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References(39)

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Dynamic Event-Triggered Scheduling and Platooning Control Co-Design for Automated Vehicles Over Vehicular Ad-Hoc Networks

doi: 10.1109/JAS.2021.1004060

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