| Robust Consensus Control for Vehicle Platoons at Autonomous Intersection |
| Haiyang Hu1, Zejian Deng2, Anzheng Wang3, Fenghua Zhao4, Duanfeng Chu5 |
1College of Vehicle and Traffic Engineering, Zhengzhou University of Technology, Zhengzhou, 450044, Henan, China
2Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, N2L3G1, Canada
3School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, 430070, Hubei, China
4School of Economics and Management, Zhengzhou Normal University, Zhengzhou, 450000, Henan, China
5Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, 430070, Hubei, China |
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Received: May 9, 2024; Revised: September 27, 2024 Accepted: October 1, 2024. Published online: March 9, 2026. |
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| ABSTRACT |
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In the platoon control system, it is crucial to consider the actual execution ability of vehicles and external disturbance to ensure control stability. Addressing this issue, firstly, a robust consensus control method for vehicle platoons is specifically designed. This method takes into account both control input saturation constraints and the impact of vehicle parameter uncertainties on the control system, thereby enhancing its practicality. The method is further substantiated by proof based on Lyapunov stability theory. Secondly, a new platoon management method based on Euler tour theory is designed to supervise all platoons, it can improve the longitudinal trajectory smoothness of platoons in consensus control. Distance and speed information are collected to construct weighted Euler tours and optimal Euler tours are searched to group vehicles into platoons. Finally, comparison experiments are conducted, and the results indicate that the proposed robust consensus control not only improves robust control precise, but also shortens convergence time compared with existing control methods. The platoon management method also significantly improves the smoothness of trajectories. |
| Key Words:
Robust consensus control · Control input saturation · Euler tour · Platoon management · Autonomous intersection |
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Corresponding Author.
Zejian Deng , Email. 
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