Adaptive non‐linear coordinated optimal dynamic platoon control of connected autonomous distributed electric vehicles on curved roads

Guo, Jinghua; Wang, Jingyao; Li, Keqiang; Luo, Yugong

doi:10.1049/iet-its.2020.0112

Cited by 10 publications

(4 citation statements)

References 36 publications

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“…Remark Compared with the traditional backstepping method [29–31], command filter technique can avoid the calculation of derivation of virtual control input, which makes controller design easier and more applicable in engineering. Besides, the dynamic surface control (DSC) method [32] can also avoid the computational complexity, while command filter [33] introduces an error compensation mechanism to compensate for filtering errors and has a better control effect than the DSC strategy.…”

Section: Resultsmentioning

confidence: 99%

Adaptive finite‐time cooperative platoon control of connected vehicles under actuator saturation

Gao

Zhang

Liu

2021

Asian Journal of Control

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This paper investigates cooperative platoon control of connected vehicles subject to parameter uncertainties, external disturbances, and actuator saturation.Firstly, a approximation method based on radial basis function neural network (RBFNN) is employed to approximate the nonlinear vehicle dynamics and adaptive estimation laws are introduced to tackle the environment disturbances and the unknown upper bound of the actuator saturation, external disturbances and actuator saturation.Then, based on the backstepping technique, compensator-based command filter and the finite time theory, a robust finite-time cooperative controller is proposed, with which the tracking error will converge to a small region of origin within settling time. Namely, the given control method can guarantee all the signals in the control system to be finite-time stabilized. Besides, the problem of "explosion of complexity" in backstepping control is solved by command filter technique. Finally, the correctness and effectiveness of the proposed control scheme is demonstrated by numerical simulations.

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Section: Resultsmentioning

confidence: 99%

Adaptive finite‐time cooperative platoon control of connected vehicles under actuator saturation

Gao

Zhang

Liu

2021

Asian Journal of Control

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“…Liu et al (2019) proposed a vehicle platoon lateral control system that considers vehicle dynamics to enhance traditional longitudinal control. Guo et al (2020) proposed an adaptive coordinated platoon control for autonomously interconnected distributed electric vehicles on curved roads. Considering the communication delay and interference control of heterogeneous platoons on curved roads, Xu et al (2018Xu et al ( , 2019 established a linear decoupled platooning model on curved roads, including longitudinal and lateral dynamics.…”

Section: Introductionmentioning

confidence: 99%

Coordinated control of longitudinal and lateral movements considering dynamics for distributed drive electric vehicle platoon on curved roads

Fang

Wang

Zhao

et al. 2023

Transactions of the Institute of Measurement and Control

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The control goal of the vehicle platoon is to maintain the same speed and desired distance. Most current studies are based on simplified vehicle models, and the leader’s state is also rarely considered. However, under complex working conditions, such as low adhesion or curves, the lateral stability of the platoon will be difficult to guarantee, and tracking errors of desired speed and spacing may further increase. To solve the above problems, a new hierarchical coordinated control strategy is proposed. Taking distributed drive electric vehicles (DDEVs) as research objects, the upper control level establishes a stability situation assessment model according to the vehicle’s dynamic characteristics. At the medium control level, variable weight model predictive control (MPC) coordinates conflicts between longitudinal tracking and lateral stability. A correction term is also introduced to revise the prediction model. At the same time, the weight of different control objectives of the leader and following vehicle was adjusted, respectively. Torque distribution is carried out at the lower level controller. Finally, the control strategy is tested on a hardware-in-the-loop (HIL) platform. The results show that the proposed control strategy can ensure lateral stability while improving the tracking performance of the vehicle platoon.

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“…Devika et al (2020), (2021) used a Magic Formula tyre model (Pacejka and Bakker, 1992). Guo et al (2020) used a Dugoof tyre model (Bhoraskar and Sakthivel, 2017). Liu et al (2019) and Hassanain et al (2020) used linear lateral tyre force models (constant cornering stiffness).…”

Section: Introductionmentioning

confidence: 99%

Car and train platoon simulations

Cole

et al. 2022

Journal of Vibration and Control

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Detailed simulations of car and train platoons are critical steps towards successful implementations of the platooning technologies. This paper developed a simulation method that can be used for both car and train platoon simulations. The method includes three main parts: (1) a scalable adaptive longitudinal space controller, (2) 2D multibody dynamics simulations that consider wheel-rail contact (Polach model), tyre-road contact (Magic Formula), suspensions and in-train forces, and (3) a scalable parallel computing method that processes the dynamics simulation of each individual vehicle (one car or one carriage) by using one independent computer core. Two case studies were conducted to simulate a 6-car platoon and a 3-train platoon on real-world road and track. The maximum space errors for the car platoon and the train platoon results were about 0.32 and 0.23 m, respectively. When the platoons were running at a steady speed, space errors were well controlled within ±0.05 m for both car and train platoons. Example dynamics results were presented including wheel-rail contact forces, tyre-road contact forces, and carbody vibrations. This information can be used to conduct a wide range of related studies such as passenger ride comfort and system damage assessments.

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Adaptive non‐linear coordinated optimal dynamic platoon control of connected autonomous distributed electric vehicles on curved roads

Cited by 10 publications

References 36 publications

Adaptive finite‐time cooperative platoon control of connected vehicles under actuator saturation

Adaptive finite‐time cooperative platoon control of connected vehicles under actuator saturation

Coordinated control of longitudinal and lateral movements considering dynamics for distributed drive electric vehicle platoon on curved roads

Car and train platoon simulations

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