Tracking control of nonlinear singular vehicles with Markov switching topologies

This paper investigates tracking control of vehicular ad hoc networks (VANETs) with random switching topologies. The network topology by which the vehicles communicate with each other at any time is a directed graph (or digraph) with a spanning tree. The switching of topology is governed by a Markov chain. A set of distributed switching controllers for tracking control is derived in the context of stochastic stability analysis of Markovian jump systems. The obtained control protocol is topology-aware and hence applicable to VANETs with Markov switching topology. An experiments with Arduino cars show the efficiency of the proposed methods.