Longitudinal cooperative control for a bidirectional platoon of vehicles with constant time headway policy

Yu, Xiaohai; Guo, Ge; Lei, Hong-Bo

doi:10.1109/ccdc.2018.8407532

Cited by 12 publications

(10 citation statements)

References 21 publications

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“…For the system (16) with the constraints (17), (22), the following robust control force is designed:…”

Section: Adaptive Constraint-following Controlmentioning

confidence: 99%

“…Theorem 1: Let δ i = [β i , (α i − α i ) T ] ∈ R k + 1 . Subject to Assumptions 1 and 2, consider the platoon system (16), the robust control (24) renders the UB and UUB performances of δ i and β i .…”

Section: Remarkmentioning

confidence: 99%

“…The bidirectional strategy is more feasible for the practical implementation than other strategies with complex communication topologies [6]. Many significant results have been proposed in the field of bidirectional platoon control [6][7][8][9][10][11][12][13][14][15][16], which can be roughly classified by the vehicle dynamics model used in these works. The linearised model (e.g.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, considerable attention has been paid to nonlinear control methods. The existing research on bidirectional platoons mainly utilises the sliding-mode control [6,[13][14][15][16]. The coupled sliding-mode control, which linearly combines the sliding surfaces of adjacent vehicles, was used in a bidirectional platoon system in [6].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Yang

Huang

et al. 2020

IET Control Theory & Appl

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The safety of a vehicular platoon is seriously threatened in the presence of actuator saturations, (possibly fast) timevarying non-linear uncertainties. Meanwhile, the string stability and the strong string stability cannot eliminate the potential safety hazard caused by large initial error conditions. This study focuses on safety-guaranteed distributed control of the vehicular platoon with a bidirectional communication topology and the constant time headway policy. The authors formulate bilateral inequality constraints on the spacing error between adjacent vehicles to represent the collision-avoidance and compact formation performance. A novel state transformation technique is proposed to convert the bounded spacing error space to an unconstrained state space. On the basis, Comprehensive equality constraints for the transformed states are established by integrating the information of proximal (preceding and following) vehicles. In addition, an anti-windup compensation method is utilised to handle actuator saturations. Then an adaptive constraint-following controller is designed to render the uniform boundedness and uniform ultimate boundedness performance of the transformed state. As a result, the string stability, the strong string stability, the collision-avoidance and compact formation are guaranteed despite the presence of actuator saturations and complex uncertainties. Numerical simulations are performed to validate the effectiveness of the proposed control scheme.

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“…For the system (16) with the constraints (17), (22), the following robust control force is designed:…”

Section: Adaptive Constraint-following Controlmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Yang

Huang

et al. 2020

IET Control Theory & Appl

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show abstract

“…According to Hurwitz stability theory, α 1 and α 2 are required to make all the eigenvalues of p 2 + α 1 p + α 2 � 0 contain a real-negative part. In this case, let α 1 � 2ϵ and α 2 � ϵ 2 , where ϵ is a positive constant [25].…”

Section: The Dism-based Platoon Control Schemementioning

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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Impacts of communication delay on vehicle platoon string stability and its compensation strategy: A review

Zhang¹,

Xu²,

Wang³

et al. 2023

Journal of Traffic and Transportation Engineering (English Edit

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Longitudinal cooperative control for a bidirectional platoon of vehicles with constant time headway policy

Cited by 12 publications

References 21 publications

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

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

Impacts of communication delay on vehicle platoon string stability and its compensation strategy: A review

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