Distributed Adaptive Sliding Mode Control for Vehicle Platoon with Uncertain Driving Resistance and Actuator Saturation

Song, Jiacheng; Ju, Yang

doi:10.1155/2020/7581517

Cited by 8 publications

(3 citation statements)

References 25 publications

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“…The work [32] characterized selected CACC controllers in detail, therefore they will not be discussed extensively in this paper. However, the authors note that numerous new approaches to platoon controller design have been proposed over the past few years, including adaptive [33,34], linear [35], model predictive control [36,37], and sliding mode control [38][39][40][41][42] or consensus-based controller [43,44].…”

Section: Introductionmentioning

confidence: 99%

Numerical Analysis of Aeroacoustic Phenomena Generated by Truck Platoons

Hamiga

Ciesielka

2021

Sustainability

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In recent years there has been dynamic progress in the development of fully autonomous trucks and their combination and coordination into sets of vehicles moving behind each other within short distances, i.e., platooning. Numerous reports from around the world present significant benefits of platooning for the environment due to reduced emissions, reduced fuel costs, and improved logistics in the transport industry. This paper presents original aerodynamic and aeroacoustic studies of identical truck column models. They are divided into four main stages. In the first, a truck model and three columns of identical trucks with different distances between the vehicles was made and tested using computational fluid dynamics (CFD). Two turbulence models were used in the study: k−ω shear stress transport (SST) and large eddy simulation (LES). The aim of the work was to determine the drag coefficients for each set of vehicles. The second stage of work included determination of sound field distributions generated by moving vehicles. Using the Ffowcs Williams–Hawkings (FW-H) analogy, the sound pressure levels were determined, followed by the sound pressure levels A. In order to verify the correctness of the work carried out, field tests were also performed and additional acoustic calculations were carried out using the NMPB-Routes-2008 and ISO 9613-2 models. Calculations were performed using SoundPlan software. The performed tests showed good quality of the built aerodynamic and aeroacoustic models. The results presented in this paper have a universal character and can be used to build intelligent transport systems (ITSs) and intelligent environmental management systems (IEMSs) for municipalities, counties, cities, and urban agglomerations by taking into account the platooning process.

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Section: Introductionmentioning

confidence: 99%

Numerical Analysis of Aeroacoustic Phenomena Generated by Truck Platoons

Hamiga

Ciesielka

2021

Sustainability

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“…However, due to the influence of road, weather conditions, and other factors, it is difficult to describe the relationship between the various actuators of the vehicle; this further makes the accurate vehicle driving-resistance model hard to construct. Generally, researchers use a simplified model of the vehicle [24].…”

Section: Introductionmentioning

confidence: 99%

An Improved Advanced Driver-Assistance System: Model-Free Prescribed Performance Adaptive Cruise Control

Ju,

Song

2023

Applied Sciences

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To maintain a safe distance between the autonomous vehicle and the leader, ensure that the vehicle runs at its expected speed as far as possible, and achieve various control requirements such as speed, distance and collision avoidance, a model-free prescribed performance adaptive cruise control (ACC) algorithm based on funnel control is proposed. The contributions of this paper are that the designed ACC algorithm only requires the speed and position information and can constrain their tracking errors within a predetermined range. When the follower is far away from the leader, the speed-prescribed performance controller adjusts the follower vehicle’s speed to the reference velocity. When the follower vehicle approaches the leader vehicle, a distance-prescribed performance controller is designed to adjust the distance between the follower and the leader. On this basis, the prescribed performance function can expand the switching interval, thereby improving the robustness of the speed and distance control switching process. The effectiveness of the designed algorithm is demonstrated in three scenarios, such as approaching and following, emergency braking, and frequent starting and stopping. The results show that during the speed control stage, the designed algorithm allows the vehicle’s operating speed to vary within a predetermined spatial range; in the distance control stage, the designed algorithm strictly limits the distance error within the preset range. The speed and distance of the vehicle change smoothly, and there is no overshoot during the initial state adjustment, emergency braking, and frequent start and stop stages, demonstrating a good control effect.

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“…To reach the desired platoon, many control theories have been applied to vehicle driving, including the consensus control [7], adaptive control [8][9][10], model predictive control [11], and the sliding mode control [12][13][14][15][16][17]. For example, a distributed consensus strategy with second-order dynamics is proposed to achieve the platooning of vehicles in [7], where the actuator saturation and absent velocity measurement are considered.…”

Section: Introductionmentioning

confidence: 99%

Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

et al. 2020

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This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy (QSP) is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy (CTHP), the QSP is more suitable to the human driving behaviors (HDB) and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode (DISM). Since the external disturbances are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches.

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Distributed Adaptive Sliding Mode Control for Vehicle Platoon with Uncertain Driving Resistance and Actuator Saturation

Cited by 8 publications

References 25 publications

Numerical Analysis of Aeroacoustic Phenomena Generated by Truck Platoons

Numerical Analysis of Aeroacoustic Phenomena Generated by Truck Platoons

An Improved Advanced Driver-Assistance System: Model-Free Prescribed Performance Adaptive Cruise Control

Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

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