Observer‐based neural adaptive control of a platoon of autonomous tractor–trailer vehicles with uncertain dynamics

Elhaki, Omid; Shojaei, Khoshnam

doi:10.1049/iet-cta.2019.1403

Cited by 34 publications

(18 citation statements)

References 35 publications

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“…Because some states of the system are not available for measurement such as velocities and accelerations, observers (Asadi et al, 2020; Elhaki and Shojaei, 2020a, 2020b; Li et al, 2020; Ranjbar et al, 2020; Taghieh and Shafiei, 2020; Wang et al, 2020) are reasonable candidates to compensate for the lack of velocity or acceleration sensors. By referring to the literature, one may find that most of the observers rely on the system dynamics which leads to intricacy and complexity in the design procedure (Fetzer et al, 2020; Saleki and Fateh, 2020).…”

Section: Preliminariesmentioning

confidence: 99%

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Elhaki

Shojaei

2021

Journal of Vibration and Control

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This study intends to address the platoon formation control problem of a team of N electrically driven underactuated autonomous car-like mobile robots. A platoon controller is proposed by using the relative distance and angle between each two successive robots in the platoon. A high-gain observer is also used to leave out velocity sensors to reduce the cost of the implementation/maintenance and the weight of the robots. Then, the dynamic surface control method is used to prevent complexity of the controller design. Next, by utilizing the prescribed performance bound method, predetermined desired transient and steady-state behavior of the tracking formation errors, robots connectivity preservation, and their collision avoidance are guaranteed as well as singularity avoidance. Adaptive neural networks and adaptive robust controllers are used to improve the tracking performance in the presence of parametric and nonparametric uncertainties, unmodeled dynamics, actuator saturation nonlinearity, and unwanted external disturbances including exogenous forces and torques, friction, and vibration. The Lyapunov direct method proves that all signals of the closed-loop control system are uniformly ultimately bounded. Finally, simulation results are demonstrated to show the superiority of the proposed convoy tracking system.

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Section: Preliminariesmentioning

confidence: 99%

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Elhaki

Shojaei

2021

Journal of Vibration and Control

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“…It is caused by the changing of the road-friction function. Since the roadfriction function ϕ(q) is changing based on (32), the value of ϕ(q) is decreasing around the time 150s. In this scenario, the optimal point C V i may have a big gap according to (4), which Input: the initial position: P(0) � [p 1 , .…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…A platoon controller is proposed with constrained relative range and angles in [31], which mainly studies the three-dimensional platoon control of multiple underactuated autonomous underwater vehicles (AUVs) subjected to environmental disturbances and model uncertainties. A robust platoon controller for a convoy of tractor-trailer wheeled mobile robots (TTWMRs) with a guaranteed prescribed performance under the collision avoidance and connectivity maintenance is successfully proposed based on only posture measurements in [32].…”

Section: Introductionmentioning

confidence: 99%

Optimal Spacing Policy for Vehicle Platoon Control with Road-Friction Coefficient

Zuo

Meng

Zhang

2021

Journal of Advanced Transportation

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This paper investigates the vehicle platoon control problems, in which the road-friction coefficient is taken into consideration. In order to improve the vehicle platoon safety in various road-friction conditions, an optimal spacing policy is proposed for the vehicle platoon. In detail, an intervehicle space optimization framework is developed by using a safety cost function and the gradient decent method. In this way, the optimal intervehicle spacing headway is presented such that the vehicle can be safely driven to the desired platoon under various road-friction conditions. Then, based on the proposed optimal spacing policy, we transform this optimal spacing vehicle platoon control problem into a moving target tracking problem. An adaptive distributed integrated sliding mode (DISM)-based vehicle platoon control scheme is proposed such that the vehicles can effectively follow the presented optimal spacing platoon. Moreover, the stability of the proposed vehicle platoon system is strictly analyzed and numerical simulations are provided to verify the proposed approaches.

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“…There are many adaptive controller structures in literature such as model reference adaptive control, adaptive control with state feedback, self-adjusting regulator, and real-time parameter estimation-based adaptive control. Moreover, there are also the following adaptive control applications: stabilization of the terminal voltage of the photovoltaic generator [1], permanent magnet synchronous motor speed control [2], asynchronous motor drive control [3], cruise control system [4], tractor-trailer mobile robot control [5], control of space vehicles [6].…”

Section: Introductionmentioning

confidence: 99%

Adaptive State Feedback Control Method Based on Recursive Least Squares

Levent

Aydoğdu

2022

ELEKTRON ELEKTROTECH

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This study revealed an adaptive state feedback control method based on recursive least squares (RLS) that is introduced for a time-varying system to work with high efficiency. Firstly, a system identification block was created that gives the mathematical model of the time-varying system using the input/output data packets of the controller system. Thanks to this block, the system is constantly monitored to update the parameters of the system, which change over time. Linear quadratic regulator (LQR) is renewed according to these updated parameters, and self-adjustment of the system is provided according to the changed system parameters. The Matlab/Simulink state-space model of the variable loaded servo (VLS) system module was obtained for the simulation experiments in this study; then the system was controlled. Moreover, experiments were carried out on the servo control experimental equipment of the virtual simulation laboratories (VSIMLABS). The effectiveness of the proposed new method was observed taking the performance indexes as a reference to obtain the results of the practical application of the proposed method. Regarding the analysis of simulation and experimental results, the proposed approach minimizes the load effect and noise and the system works at high efficiency.

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Observer‐based neural adaptive control of a platoon of autonomous tractor–trailer vehicles with uncertain dynamics

Cited by 34 publications

References 35 publications

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance

Optimal Spacing Policy for Vehicle Platoon Control with Road-Friction Coefficient

Adaptive State Feedback Control Method Based on Recursive Least Squares

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