A New Quadratic Spacing Policy and Adaptive Fault-Tolerant Platooning With Actuator Saturation

Guo, Ge; Li, Ping; Hao, Li‐Ying

doi:10.1109/tits.2020.3023453

Cited by 89 publications

(34 citation statements)

References 30 publications

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“…In NLD, the desired distance between two consecutive vehicles can be a nonlinear function of states of the vehicles [12], [13]. For example, in [14], a quadratic spacing policy is proposed and in [15], [16] an improved quadratic spacing policy is introduced, which can work without the restrictive assumption of having zero initial spacing errors. For CTHP, which is the class under consideration in this work, a linear function of speed, with the proportional gain, named Time headway (h), dictates the desired inter-vehicle distance [17].…”

Section: Introductionmentioning

confidence: 99%

On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

Abolfazli

Besselink

Charalambous

2022

IEEE Trans. Intell. Transport. Syst.

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For platoons under the multiple-predecessor following (MPF) topology, communication delays can compromise both the internal stability and string stability. The most straightforward solution to guarantee stability is by increasing the time headway. However, time headway plays a significant role in road capacity and increasing its value is in contrast with the idea of platooning. In this study, internal stability and string stability of platoons suffering from communication delays are investigated and a lower bound for the time headway is proposed. Using this bound, platoons do not need to massively increase the time headway in order to compensate for the effects of communications delays. Finally, we evaluate the proposed lower bound on the time headway and the simulation results demonstrate its effectiveness.

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Section: Introductionmentioning

confidence: 99%

On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

Abolfazli

Besselink

Charalambous

2022

IEEE Trans. Intell. Transport. Syst.

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show abstract

“…We propose an adaptive fault-tolerant controller for actuator faults based on consensus error in the cooperative braking process. In existing studies from [21] to [28], various control methods were investigated for the fault-tolerant control of vehicle platoons or multi-agent systems. The sliding-mode control has been widely used in fault-tolerant control because of its simple structure and robustness against system disturbances [42].…”

Section: Comparisons To Other Fault-tolerant Controllermentioning

confidence: 99%

“…(i) Unlike the former works [16,20,28], this paper introduces the dynamic model of the vehicle platoon with a braking system for cooperative braking. The working principle and detailed dynamic models of the hydraulic and regenerative braking systems are introduced.…”

Section: Introductionmentioning

confidence: 99%

Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon

Han

Zhang

et al. 2021

IET Intelligent Trans Sys

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Vehicle platooning can significantly reduce traffic accidents and enhance transportation safety. Among many subsystems and functionalities equipped in a vehicle platoon, cooperative braking is a safety-critical one. Besides, as actuator faults would deteriorate vehicle safety and stability, they pose a great challenge to the platoon, particularly during cooperative braking. To address the aforementioned problems, this study designed an adaptive distributed finite-time fault-tolerant controller for vehicle platoons under cooperative braking condition. First, based on the graph theory and vehicle longitudinal dynamics, the cooperative braking model of a platoon is constructed. Then, the models of hydraulic braking system and regenerative braking system are developed with malfunction analysis. Based on the vehicle's fault model and the representation of the platoon consensus errors, an adaptive finite-time sliding-mode fault tolerant controller is proposed to maintain consensus between vehicle's states during fault occurring. Further, a distributed adaptive law is presented considering the parameter estimation error and sliding-mode surface. The finitetime convergence property and the stability of the proposed controller are demonstrated. Numerical simulations are conducted under different conditions. The simulation results reflected by the control performance and actuators' responses validate the feasibility and effectiveness of the designed control method.

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“…In mathematics, nonlinear programming is to solve an optimization problem defined by a set of equations and inequalities (collectively referred to as constraints) consisting of a series of unknown real functions, accompanied by an objective function to be maximized or minimized, just some constraints or the objective function is non-linear. It is the most common method for optimally handling nonlinear problems [38][39][40][41][42][43][44][45][46]. Taking the minimum square sum of all tire utilization rates as the objective function to distribute the force of each tire, it can ensure that each wheel can remain stable and have a certain stability margin to ensure the stable operation of the vehicle.…”

Section: Optimal Distribution Of the Generalized Drive Torquementioning

confidence: 99%

Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

2021

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The optimal control strategy for the decoupling of drive torque is proposed for the problems of runaway and driving stability in straight-line driving of electric vehicles driven by four-wheel hub motors. The strategy uses a hierarchical control logic, with the upper control logic layer being responsible for additional transverse moment calculation and driving anti-slip control; the middle control logic layer is responsible for the spatial motion decoupling for the underlying coordinated distribution of the four-wheel drive torque, on the basis of which the drive anti-skid control of a wheel motor-driven electric vehicle that takes into account the transverse motion of the whole vehicle is realized; the lower control logic layer is responsible for the optimal distribution of the driving torque of the vehicle speed following control. Based on the vehicle dynamics software Carsim2019.0 and MATLAB/Simulink, a simulation model of a four-wheel hub motor-driven electric vehicle control system was built and simulated under typical operating conditions such as high coefficient of adhesion, low coefficient of adhesion and opposing road surfaces. The research shows that the wheel motor drive has the ability to control the stability of the whole vehicle with large intensity that the conventional half-axle drive does not have. Using the proposed joint decoupling control of the transverse pendulum motion and slip rate as well as the optimal distribution of the drive force with speed following, the transverse pendulum angular speed and slip rate can be effectively controlled with the premise of ensuring the vehicle speed, thus greatly improving the straight-line driving stability of the vehicle.

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A New Quadratic Spacing Policy and Adaptive Fault-Tolerant Platooning With Actuator Saturation

Cited by 89 publications

References 30 publications

On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

On Time Headway Selection in Platoons Under the MPF Topology in the Presence of Communication Delays

Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon

Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

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