Autonomous coordinated control of a platoon of vehicles with multiple disturbances

Liu, Yonggui; Gao, Huanli; Xu, Bugong; Liu, Guiyun; Cheng, Hui

doi:10.1049/iet-cta.2014.0172

Cited by 52 publications

(30 citation statements)

References 15 publications

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“…Batteries could be used to save the electricity taken by the electric generators or the lights could be considered to reuse the recovered energy. Some important controllers of vehicles are designed in [12,22,25].…”

Section: Resultsmentioning

confidence: 99%

“…In [11], local controllers are designed such that the system achieves the output synchronization with a desired disturbance attenuation performance. Control of a platoon of vehicles is designed in [12] when some suffer from disturbances. The structure at infinity method of [15,16] is employed for the disturbance rejection in linear systems.…”

Section: Introductionmentioning

confidence: 99%

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Uniform stable observer for the disturbance estimation in two renewable energy systems

et al. 2015

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Uniform stable observer for the disturbance estimation in two renewable energy systems

et al. 2015

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“… 1.Compared with the existing results, our proposed method does not feedback linearize the system model, and the negative effects of mismatch input quantization and unknown asymmetric deadzone are considered simultaneously. 2.The strong coupling between mismatch input quantization and unknown asymmetric deadzone is first decoupled by some nonlinear decomposition methods.…”

Section: Introductionmentioning

confidence: 97%

“…Therefore, how to guarantee string stability has received tremendous attention. Interested readers are referred to the seminal works . In order to achieve string stability, most of the above‐mentioned literature always requires that the initial spacing and velocity (sometimes also including acceleration) errors be zero.…”

Section: Introductionmentioning

confidence: 99%

“…This is clearly undesirable as the initial condition uncertainties may lead to string instability . Moreover, in most existing results on string stability, reducing a nonlinear system to a linear one via feedback linearization is extensively used to simplify the control problem . In the work of Zegers et al, a multilayer control structure is proposed in conjuncture with feedback linearization for string stability and platoon cohesion.…”

Section: Introductionmentioning

confidence: 99%

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Neuroadaptive quantized PID sliding‐mode control for heterogeneous vehicular platoon with unknown actuator deadzone

Guo

Wang

Liao

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper focuses on the problem of neuroadaptive quantized control for heterogeneous vehicular platoon when the follower vehicles suffer from external disturbances, mismatch input quantization, and unknown actuator deadzone. The PID‐based sliding‐mode (PIDSM) control technique is used due to its superior capability to reduce spacing errors and to eliminate the steady‐state spacing errors. Then, a neuroadaptive quantized PIDSM control scheme with minimal learning parameters is designed not only to guarantee the string stability of the whole vehicular platoon and ultimate uniform boundedness of all adaptive law signals but also to attenuate the negative effects caused by external disturbance, mismatch input quantization, and unknown actuator deadzone. Furthermore, optimizing the interspacing between consecutive vehicles is very important to reduce traffic congestion on highways, and a new modified constant time headway policy is proposed to not only increase traffic density but also address the negative effect of nonzero initial spacing, velocity, and acceleration errors. Compared with most existing methods, the proposed method does not linearize the system model and neither requires precise knowledge of the system model. Finally, the effectiveness and advantage of the proposed method are demonstrated by comparative simulation studies.

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Distributed adaptive control for vehicular platoon with unknown dead‐zone inputs and velocity/acceleration disturbances

Guo

Wang

Liao

et al. 2016

Intl J Robust & Nonlinear

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Summary This paper is focused on designing a distributed adaptive control scheme for a vehicular platoon with unknown bounded velocity/acceleration disturbances and unknown nonlinear dead‐zone inputs. Our aim is to design distributed adaptive controllers based on integral sliding mode control techniques that guarantee practical exponential convergence (i.e., exponential stability of an arbitrarily small neighborhood of zero) of the spacing errors and the string stability of the whole vehicular platoon. The contributions of this paper are that: (i) based on a modified constant time headway policy, the whole vehicular platoon is guaranteed to have string stability despite dead zone inputs; (ii) adaptive compensation terms are constructed to compensate for the time‐variant effects caused by unknown bounded velocity/acceleration disturbances, and unknown dead zone inputs; (iii) an efficient numerical method for avoiding the singularity problem of the control law is also proposed. Numerical simulation results show the validity and advantages of the proposed method are significantly higher traffic density and string stability. Copyright © 2016 John Wiley & Sons, Ltd.

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Autonomous coordinated control of a platoon of vehicles with multiple disturbances

Cited by 52 publications

References 15 publications

Uniform stable observer for the disturbance estimation in two renewable energy systems

Uniform stable observer for the disturbance estimation in two renewable energy systems

Neuroadaptive quantized PID sliding‐mode control for heterogeneous vehicular platoon with unknown actuator deadzone

Distributed adaptive control for vehicular platoon with unknown dead‐zone inputs and velocity/acceleration disturbances

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