Cooperative Control of Dynamical Systems With Application to Autonomous Vehicles

Qu, Zhihua; Wang, Jing; Hull, Richard A.

doi:10.1109/tac.2008.920232

Cited by 488 publications

(443 citation statements)

References 38 publications

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“…This information is used either for distributed control [21] or coordinated control [22]. Formation and platoon stabilities have also been studied considering information flow among the vehicles [23], [24].…”

Section: A Related Work On Car-following Modelsmentioning

confidence: 99%

The modified optimal velocity model: stability analyses and design guidelines

Kamath

Jagannathan

Raina

2017

IFAC Journal of Systems and Control

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Reaction delays are important in determining the qualitative dynamical properties of a platoon of vehicles traveling on a straight road. In this paper, we investigate the impact of delayed feedback on the dynamics of the Modified Optimal Velocity Model (MOVM). Specifically, we analyze the MOVM in three regimes -no delay, small delay and arbitrary delay. In the absence of reaction delays, we show that the MOVM is locally stable. For small delays, we then derive a sufficient condition for the MOVM to be locally stable. Next, for an arbitrary delay, we derive the necessary and sufficient condition for the local stability of the MOVM. We show that the traffic flow transits from the locally stable to the locally unstable regime via a Hopf bifurcation. We also derive the necessary and sufficient condition for non-oscillatory convergence and characterize the rate of convergence of the MOVM. These conditions help ensure smooth traffic flow, good ride quality and quick equilibration to the uniform flow. Further, since a Hopf bifurcation results in the emergence of limit cycles, we provide an analytical framework to characterize the type of the Hopf bifurcation and the asymptotic orbital stability of the resulting non-linear oscillations. Finally, we corroborate our analyses using stability charts, bifurcation diagrams, numerical computations and simulations conducted using MATLAB.

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Section: A Related Work On Car-following Modelsmentioning

confidence: 99%

The modified optimal velocity model: stability analyses and design guidelines

Kamath

Jagannathan

Raina

2017

IFAC Journal of Systems and Control

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“…A survey on various classifications of formation control is given in [18]. Consensus based formation control strategies have also been investigated [19][20][21][22][23][24][25]. The role of Laplacian eigenvalues in determining formation stability is investigated in [19].…”

Section: Introductionmentioning

confidence: 99%

“…Formation control for a class of high-order linear multi-agent systems with time delays are studied in [22]. The applications of formation control in various areas could be found in [23][24][25]. It is worth noting that only linear dynamics are considered in the above results.…”

Section: Introductionmentioning

confidence: 99%

Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

Wang

Gong

Ding

2017

Sci. China Inf. Sci.

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In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking error converges to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

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“…Qu etc. proposes a framework based on matrix theory to analyze and design cooperative control algorithms for a group of vehicles, interacting with each other locally [10]. A second-order coordinated tracking problem of multiple three-degrees-of-freedom laboratory helicopters is studied on directed communication topologies to combat model nonlinearity and uncertainty [11].…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Distributed Motion Control for Multiple Linear Switched Reluctance Machines

et al. 2017

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This paper investigates a distributed, coordinated motion control network based on multiple direct-drive, linear switched reluctance machines (LSRMs). A hierarchical, two-level synchronization control strategy is proposed for the four LSRMs based motion control network. The high-level, reference signals agreement algorithm is first employed to correct the asynchronous behaviors of the position commands. Then, the low-level tracking synchronization method is applied for the collaborative position control of the four LSRMs. The proposed two-level, fault-tolerant control strategy eliminates the asynchrony of the reference signals and it also guarantees the coordinated tracking control performance of the four LSRMs. Experimental results demonstrate that effective coordinated tracking control can be ensured, based on the successful agreement of reference signals and an absolute tracking error falling within 2 mm can be achieved.

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Cooperative Control of Dynamical Systems With Application to Autonomous Vehicles

Cited by 488 publications

References 38 publications

The modified optimal velocity model: stability analyses and design guidelines

The modified optimal velocity model: stability analyses and design guidelines

Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

Hierarchical Distributed Motion Control for Multiple Linear Switched Reluctance Machines

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