Vehicle Following Problem: A Control Approach for Uncertain Systems with Lossy Networks

Abstract

In the present work, a control system based in Networked Control Systems is proposed, in order to provide a suitable solution to the vehicle following problem. This problem presents the two main obstacles: the first been the difficulty in the identification process (leading to uncertain numerical models) and the second one is the data communication is inevitably made via a lossy network. An appropriate solution that deals with both characteristics is proposed a static output feedback controller design. Regarding the lossy network problem the Markovian Jump Linear System framework is used to model the controller considering the network behavior, with respect to the uncertainties the system is model in a polytopic manner, and the controller design uses a polynomial Lyapunov equation with an arbitrary degree to solve the optimization problem in Linear Matrix Inequalities form. To analyze the control system performance the Hoo norm is used. At the end of the paper, a numerical example is presented with the intention to illustrate the suitability of the proposed solution.