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Dr Kaushik Halder

Research fellow in robust distributed control systems for connected autonomous vehicle

My publications


Kaushik Halder, Umberto Montanaro, Lee Gilliam, Mehrdad Dianati, David Oxtoby, Alexandros Mouzakatis, Saber Fallah (2020)Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario, In: The 23rd IEEE International Conference on Intelligent Transportation Systems

This paper proposes a distributed control strategy for homogeneous platoon systems with external disturbances under random packet drop scenario which can occur due to underlying network among the vehicles in a platoon. An linear matrix inequality (LMI) based approach is used to obtain the controller gains for ensuring the stability with bounded H∞ norm for such systems. Effectiveness of the proposed method is demonstrated with numerical results considering different network topologies in a platoon under single packet drop. The variation of H∞ norm bound for different number of platoon members under the different structure of network topologies and the packet drop has been studied in this paper.

KAUSHIK HALDER, UMBERTO MONTANARO, SHILP DIXIT, Mehrdad Dianati, Alexandros Mouzakitis, MOHAMMAD SABER FALLAH (2020)Distributed H∞ Controller Design and Robustness Analysis for Vehicle Platooning under Random Packet Drop, In: IEEE Transactions on Intelligent Transportation Systems pp. 1-14 IEEE

—This paper presents the design of a robust distributed state-feedback controller in the discrete-time domain for homogeneous vehicle platoons with undirected topologies, whose dynamics are subjected to external disturbances and under random single packet drop scenario. A linear matrix inequality (LMI) approach is used for devising the control gains such that a bounded H∞ norm is guaranteed. Furthermore, a lower bound of the robustness measure, denoted as γ gain, is derived analytically for two platoon communication topologies, i.e., the bidirectional predecessor following (BPF) and the bidirectional predecessor leader following (BPLF). It is shown that the γ gain is highly affected by the communication topology and drastically reduces when the information of the leader is sent to all followers. Finally, numerical results demonstrate the ability of the proposed methodology to impose the platoon control objective for the BPF and BPLF topology under random single packet drop. Index Terms—vehicle platoon, LMI, distributed H∞ control with packet drops, robustness of closed-loop system.