Leader-Following Constrained Distributed Adaptive Dynamic Programming Design for Multiagent Systems

Zou, Ruping; Sun, Jing; Sun, Jian; Li, Teng; Wei, Along

doi:10.1109/cac48633.2019.8996626

Cited by 4 publications

(5 citation statements)

References 12 publications

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“…Diffeomorphism [41,42,47] is adopted to address this bilateral inequality problem because it can remove the inequality constraint ( 16) from the twoside-bounded space, thereby leading to an unbounded space. e definition of diffeomorphism [42] is expressed as follows: given two state spaces X and Y, there is an invertible map T: X ⟶ Y between them, and its inverse is T − 1 : Y ⟶ X, as long as T satisfies the following rules:…”

Section: Constraints Transfermentioning

confidence: 99%

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Constraint-Following Approach for Platoon Control Strategy of Connected Autonomous Vehicles

Gao

Zhao

et al. 2022

Journal of Advanced Transportation

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The current platoon control strategies of connected autonomous vehicles (CAVs) focus on controlling the fixed intervehicle distance, i.e., the string stability of the platoon system. Here, we aimed to design a CAV platoon control strategy based on a constraint-following approach to solve the problem of platoon starting. As the resistance of the vehicle during driving varies with time, this study regarded the CAV platoon system as a changing dynamic system and introduced the Udwadia–Kalaba (U–K) approach to simplify the solution. Apart from adding an equality constraint, unlike most other studies, this study imposed a bilateral inequality constraint on the intervehicle distance between successive CAVs to prevent collisions. Meanwhile, a diffeomorphism method was introduced to transform the bounded state into an unbounded state. The proposed control strategy could render each CAV compliant with both the original imposed bilateral inequality constraint and the equality constraint. The former avoids collisions, and the latter indicates the string stability of the designed CAV platoon system. The effectiveness of the proposed controller was verified by numerical experiments. The gap errors tend to converge to zero, which is not amplified by the propagation of traffic flow.

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Section: Constraints Transfermentioning

confidence: 99%

“…Differentiating (47) and combining ( 34) and ( 40), we obtain the derivative of V i in the form of (48).…”

Section: Assumptionmentioning

confidence: 99%

Constraint-Following Approach for Platoon Control Strategy of Connected Autonomous Vehicles

Gao

Zhao

et al. 2022

Journal of Advanced Transportation

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“…Therefore, referring to the standard arguments as in [35], we get the uniform boundedness of the system:…”

Section: Control Design With Parametric Uncertaintiesmentioning

confidence: 99%

“…Theorem 2. Subject to Assumption 1, consider the system (35), the robust control (44) renders the following performance:…”

Section: Assumption 1 For All (Zmentioning

confidence: 99%

“…velocity, acceleration and location coordinates). Besides, these vehicles follows the predecessor-follower (PF) vehicle to vehicle (V2V) communication topology [35], that is, the predecessor sends its current state information to its follower. Thus, the inter-vehicle distance are presented from the differences among vehicles' positions.…”

Section: Modelling Of the Lane-changing Problemmentioning

confidence: 99%

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Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario

Yang

Huang

et al. 2021

IET Intelligent Trans Sys

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This paper aims at utilising the ideology of controlling a constrained dynamical system to address the longitudinal motion control problem during lane‐changing process subject to time‐varying uncertainties. To this end, a robust controller is designed based on Udwadia–Kalaba (UK) approach and Lyapunov stability theory. Most of the studies on lane‐changing considered only the equality constraint, namely the desired inter‐vehicle distance. In a bilateral inequality constraint, the upper bound avoids unpredictable cut‐ins and the lower bound collisions. This research applies the constraint to guarantee a safe and efficient lane‐changing process. The original UK approach cannot handle bilateral inequalities. Therefore, a diffeomorphism method is proposed to transform the bounded state to an unbounded one. The latter enables the UK approach to deal with both equality and bilateral inequality constraints. The proposed controller can render each vehicle to adjust its distance with the predecessor without violating the prescribed bounds. Numerical experiments have been conducted to validate the effectiveness of the proposed controller under different traffic demands.

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Optimal Consensus Control for Discrete-Time Systems with State Delay Using Q-learning Solution

Zhang

Huo

Zhang

2022

2022 IEEE 17th International Conference on Control &Amp; Automation (ICCA)

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Leader-Following Constrained Distributed Adaptive Dynamic Programming Design for Multiagent Systems

Cited by 4 publications

References 12 publications

Constraint-Following Approach for Platoon Control Strategy of Connected Autonomous Vehicles

Constraint-Following Approach for Platoon Control Strategy of Connected Autonomous Vehicles

Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario

Optimal Consensus Control for Discrete-Time Systems with State Delay Using Q-learning Solution

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