Toward Robust Vehicle Platooning With Bounded Spacing Error

Huang, Jin; Huang, Qingmin; Deng, Yansha; Chen, Ye‐Hwa

doi:10.1109/tcad.2016.2570431

Cited by 34 publications

(22 citation statements)

References 27 publications

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“…We suppose that Assumption 1 is met with ρ E 1 = ρ E 2 = ρ E 3 = ρ E 4 = ρ E 5 = − 0.2 and Assumption 2 is met with On the premise of meeting the assumptions, we randomly choose time-varying uncertainties (shown in Table 2). In addition, the desired spacing is set as 10 m Firstly, a driving condition containing accelerations and decelerations is designed according to [12] to show the tracking performance of vehicles equipped with the proposed controller. The control input for the leading vehicle is given by…”

Section: Simulation Experimentsmentioning

confidence: 99%

“…One key component for vehicular platoon is the control algorithm that coordinates the vehicles in a line [12]. Due to the small spacing requirement, the vehicle dynamics is coupled.…”

Section: Introductionmentioning

confidence: 99%

“…The distributed approaches can be roughly divided into three categories: (i) optimisation-based control [11,[16][17][18], (ii) linear feedback and feedforward control [19][20][21][22] and (iii) non-linear control [12,[23][24][25]. The optimisation-based method (e.g.…”

Section: Introductionmentioning

confidence: 99%

“…Above control approaches focus on string stability and internal stability which cannot provide a formal warranty for collision avoidance among vehicles especially under time-varying uncertainties [12,26]. So it is necessary to explore one platoon control method which emphasises the collision avoidance performance during the controller design process.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Utilising bidirectional inequality constraints in optimal robust control for heterogeneous vehicular platoons

Yang

Huang

et al. 2020

IET Intelligent Transport Systems

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Section: Simulation Experimentsmentioning

confidence: 99%

“…One key component for vehicular platoon is the control algorithm that coordinates the vehicles in a line [12]. Due to the small spacing requirement, the vehicle dynamics is coupled.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Utilising bidirectional inequality constraints in optimal robust control for heterogeneous vehicular platoons

Yang

Huang

et al. 2020

IET Intelligent Transport Systems

Self Cite

View full text Add to dashboard Cite

“…Homogeneous (Kianfar et al., 2015; Knorn et al., 2015) and heterogeneous vehicular platoons (Santini et al., 2017; Chehardoli and Ghasemi, 2018) have also been investigated. Several linear control protocols are provided (Di Bernardo et al., 2015; Wang and Nijmeijer, 2015; Chehardoli and Homaienezhad, 2017), whereas different nonlinear control schemes are presented (Swaroop et al., 2001; Peng et al., 2006; Huang et al., 2017). Robust adaptive sliding mode control is presented in Swaroop et al.…”

Section: Introductionmentioning

confidence: 99%

Formation control of longitudinal vehicular platoons under generic network topology with heterogeneous time delays

Chehardoli

Ghasemi

2018

Journal of Vibration and Control

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The problem of third-order consensus of homogeneous vehicular platoons in the presence of communication and parasitic delays is investigated. The communication topology of vehicular networks is assumed to be directed and generic. Therefore, a number of eigenvalues of the network’s matrix are complex, entangling the stability analysis of the closed-loop dynamics. By considering both communication and parasitic delays, a new linear centralized consensus protocol is designed for each vehicle. It will be shown that the closed-loop dynamics of vehicular networks with generic topology is in the form of linear systems with multiple delays. By presenting a new approach, the resultant linear time delay system is decoupled to individual third- and sixth-order dynamical equations. By performing the stability analysis of the new equations, it will be proven that the control parameters are independent of the network’s topology. Therefore, the control design and stability analysis will be significantly simplified compared with previous studies. To find the stable regions of time delay, the cluster treatment characteristic root method is employed. Simulation results are provided to show the effectiveness of the proposed approach.

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Optimal robust vehicle motion control under equality and inequality constraints

Zhang

Song

Yang

et al. 2022

Asian Journal of Control

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In this paper, a new robust controller is proposed to improve the motion control performance of an autonomous four‐wheel steering vehicle. The vehicle is subject to time‐varying uncertainties caused by parameter perturbation and unmodeled disturbance. First of all, the vehicle motion control problem is modeled as a constraint‐following problem with the goal to drive the vehicle system to follow the given constraints. For safety reasons, inequality constraints are imposed on the lateral displacement of the vehicle. Next, the diffeomorphism mapping method is used to deal with the inequality constraints in the vehicle motion control, and the constrained lateral displacement space is mapped to an unbounded space. On this basis, a new multi‐parameter robust constraint‐following control is designed. Based on Lyapunov stability theory, the approximate constraint tracking performance of the path tracking system is proved. In order to make a trade‐off between the system performance and control cost, a multi‐parameter optimization problem is established, and the optimal robust controller is obtained. Last, the main theoretical results are verified by the Carsim‐Simulink co‐simulations.

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Toward Robust Vehicle Platooning With Bounded Spacing Error

Cited by 34 publications

References 27 publications

Utilising bidirectional inequality constraints in optimal robust control for heterogeneous vehicular platoons

Utilising bidirectional inequality constraints in optimal robust control for heterogeneous vehicular platoons

Formation control of longitudinal vehicular platoons under generic network topology with heterogeneous time delays

Optimal robust vehicle motion control under equality and inequality constraints

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