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Dr Kaushik Halder

Research fellow in robust distributed control systems for connected autonomous vehicle

My publications


Halder Kaushik, Montanaro Umberto, Gilliam Lee, Dianati Mehrdad, Oxtoby David, Mouzakatis Alexandros, Fallah Saber (2020) Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario,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.