Multi-Model Adaptive Control for CACC Applications

Abstract

This paper proposes a multi-model adaptive control (MMAC) algorithm based on Youla-Kucera (YK) theory to deal with heterogeneity in cooperative adaptive cruise control (CACC) systems. The main idea of MMAC is to choose the plant in a predefined set that best approximates the system dynamics, applying the corresponding predesigned controller. A set of linear plants describing different vehicle dynamics is defined. Different CACC controllers are designed depending on these linear plants. Simulation and experimental results prove how MMAC determines the closest plant in the set, choosing the CACC system able to ensure string stability.

Advances in Youla-Kucera parametrization: A Review

“…In 2015, a new dual YK based identification scheme is proposed in order to avoid the use of indirect excitation signals in the reference and feedforward inputs modifying the one proposed in 2003 Sekunda et al (2015) by the Technical University of Denmark, and in 2018 they showed experimental results on using the proposed scheme. In 2019, experimental results are shown using YK based MMAC in ITS systems Navas, Milans, Flores, and Nashashibi (2020) .…”

Edge-based platoon control

“…In order to maintain intervehicle distance and string stability, CACC provides the desired acceleration to each vehicle by using the information of vehicle itself, along with the information of the platoon leader and the preceding vehicle. Some works propose variants and enhancements of CACC, e.g., Navas et al [22] propose to use Youla-Kucera parametrization to build an adaptive controller on top of CACC. Vegamoor et al [23] show how to analytically account for noisy V2V transmission channels in CACC, using a Gilbert channel model in the derivation of the CACC control equations.…”

LPV-Based Autonomous Vehicle Lateral Controllers: A Comparative Analysis

“…Two vehicle control tasks were considered: longitudinal control and lateral control. The former aims mainly to achieve car-following [2] by regulating the speed of the vehicle. The latter minimizes the lateral error by adjusting the steering actuator [3].…”