Delay-Compensated Distributed PDE Control of Traffic With Connected/Automated Vehicles

DOI10.1109/TAC.2022.3174032MaRDI QIDQ6053261zbMATH OpenOpenAlexWikidataFDO

Authors Jie Qi, Miroslav Krstic

Publication date 26 September 2023

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2107.08651

zbMATH Keywords

adaptive cruise control (ACC)delayed distributed inputfirst-order hyperbolic PDEPDE backsteppingpredictor-feedbacktraffic flow

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: We develop an input delay-compensating design for stabilization of an Aw-Rascle-Zhang (ARZ) traffic model in congested regime which is governed by a $2imes2$ first-order hyperbolic nonlinear PDE. The traffic flow consists of both adaptive cruise control-equipped (ACC-equipped) and manually-driven vehicles. The control input is the time gap of ACC-equipped and connected vehicles, which is subject to delays resulting from communication lag. For the linearized system, a novel three-branch bakcstepping transformation with explicit kernel functions is introduced to compensate the input delay. The transformation is proved {ae}to be bounded, continuous and invertible, with explicit inverse transformation derived. Based on the transformation, we obtain the explicit predictor-feedback controller. We prove exponential stability of the closed-loop system with the delay compensator in $L_2$ norm. The performance improvement of the closed-loop system under the proposed controller is illustrated in simulation.

Cited in

(11)

• Distributed robust \(\mathcal{H}_\infty\) control of connected eco-driving system with time-varying delay and external disturbances in the vicinity of traffic signals
• Robust \(H\infty\) control of cooperative driving system with external disturbances and communication delays in the vicinity of traffic signals
• Optimal time trajectory and coordination for connected and automated vehicles
• Multiscale Control of Generic Second Order Traffic Models by Driver-Assist Vehicles
• Real‐time control of connected vehicles in signalized corridors using pseudospectral convex optimization
• A yaw stability-guaranteed hierarchical coordination control strategy for four-wheel drive electric vehicles using an unscented Kalman filter
• Proximal policy optimization learning based control of congested freeway traffic
• New perspective on sampled-data control for persistent dwell-time switched PDE systems with 2D spatial diffusion
• RBF neural network-based adaptive control for Aw-Rascle-Zhang mixed traffic flow model with unknown external disturbances
• Event-triggered PDE-based control of freeway traffic flow with connected/automated vehicles
• Adaptive output feedback containment control for parabolic PDE multi-agent systems

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