Fuzzy PID Gain Scheduling Control of Large-Scale Autonomous Vehicle Platoons in Presence of Time Delay

This paper deals with the fuzzy PID gain scheduling control of uni -directional large-scale vehicular networks in presence of time delay. By using both relative position and velocity measurement with respect to predecessor vehicle, a robust control against size changing is presented to assure the internal stability, string stability and optimal performance. Fuzzy rules and reasoning are employed online to determine the control gains. Therefore, the control parameters are scheduled to achieve an optimal performance by employing the fuzzy logic approach. The engine’s lag is involved in system modeling and control design. It will be shown that under the fuzzy PID gain scheduling control, both internal and string stability of large-scale heterogeneous uni-directional vehicular networks are assured. Moreover, in this paper a new role for integration control is introduced. It will be shown that this PID control part not only eliminates the steady state error, but also always guarantees the string stability.

Keywords:

internal stability , string stability , fuzzy PID , vehicular platoons , time delay.