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Item type:Publication, Access status: without files , Finite State Markov Modeling of C-V2X Erasure Links For Performance and Stability Analysis of Platooning ApplicationsCooperative driving systems, such as platooning, rely on communication and information exchange to create situational awareness for each agent. Design and performance of control components are therefore tightly coupled with communication component performance. The information flow between vehicles can significantly affect the dynamics of a platoon. Therefore, both the performance and the stability of a platoon depend not only on the vehicle's controller but also on the information flow Topology (IFT). The IFT can cause limitations for certain platoon properties, i.e., stability and scalability. Cellular Vehicle-To-Everything (C-V2X) has emerged as one of the main communication technologies to support connected and automated vehicle applications. As a result of packet loss, wireless channels create random link interruption and changes in network topologies. In this paper, we model the communication links between vehicles with a first-order Markov model to capture the prevalent time correlations for each link. These models enable performance evaluation through better approximation of communication links during system design stages. Our approach is to use data from experiments to model the Inter-Packet Gap (IPG) using Markov chains and derive transition probability matrices for consecutive IPG states. Training data is collected from high fidelity simulations using models derived based on empirical data for a variety of different vehicle densities and communication rates. Utilizing the IPG models, we analyze the mean-square stability of a platoon of vehicles with the standard consensus protocol tuned for ideal communication and compare the degradation in performance for different scenarios. We additionally present some initial theoretical results that shed some light on the connection between the independent identical distributed (i.i. d.) modeling approach which neglects the time correlations in links and the proposed Markovian approach.Publicationtype: Conference Paper34 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Distributed model predictive control of constrained spatially-invariant interconnected systems in input-output form(2016-07-28); ; ; ; This paper proposes a non-iterative, Lyapunov-based distributed model predictive control (MPC) design for invariant spatially-interconnected systems comprised of a network of subsystems with coupled dynamcis and subject to local state and/or input constraints. Considered here is the distributed MPC design for linear systems in input-output form with fixed-structure local state-feedback-like control law. The proposed distributed MPC design approach ensures asymptotic stability and recursive feasibility, and its online implementation can be formulated as solving a linear matrix inequality (LMI) problem defined at the subsystem level. Simulation results using a heat equation in one-dimensional space demonstrate the merits and effectiveness of the proposed approach.Publicationtype: Conference Paper74