Cooperative control of mixed vehicle platoon based on pinning consensus of heterogeneous multi-agent system

This paper proposes a longitudinal controller for the mixed vehicle platoon in the presence of driver response time-delay and communication time-delay based on the pinning consensus of heterogeneous multi-agent system. Firstly, an adaptive pinning consensus control protocol and derive sufficient conditions for the heterogeneous non-linear multi-agent system are designed to achieve pinning consistency. Then, the heterogeneous characteristics of the vehicle are described based on the car-following model, then the mixed vehicle platoon system model is constructed and a mixed vehicle platoon controller based on heterogeneous multi-agent pinning consensus is proposed. Besides, the driver response time-delay and communication time-delay are introduced into the model, and a controller based on time-delay heterogeneous multi-agent pinning consensus is designed. Finally, the effectiveness of the proposed controller is verified by numerical simulations, and the effect of number of connected autonomous vehicle, different types of vehicle order, driver response time-delay, communication time-delay and the parameter of the controller on stability of mixed vehicle platoon is also quantitatively demonstrated.