Journal ArticleDOI
Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration
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TLDR
A disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system, estimating the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance.Abstract:
Cooperative adaptive cruise control (CACC) has a potential to improve traffic throughput, fuel efficiency and vehicle safety. The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unreliable wireless communication and uncertain dynamics of the vehicle. In this paper, a disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system. This scheme estimates the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance. The proposed strategy addresses practical issues such as unavailability of preceding vehicle acceleration and range of uncertainty in the vehicle dynamics. The stability of individual vehicles and the string stability of a platoon are derived. The performance of the proposed scheme is verified by considering various traffic scenarios, and it is compared with an existing method.read more
Citations
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Journal ArticleDOI
Path Planning and Obstacle Avoidance Control for Autonomous Multi-Axis Distributed Vehicle Based on Dynamic Constraints
TL;DR: In this article , an integrated collision avoidance framework that consists of a new path planner and a tracking controller considering multiple dynamic constraints is proposed for an autonomous multi-axis distributed vehicle, where a new optimal path generator based on the B-splines is designed for safety and stability purposes, and the collision avoidance path is optimized considering the tire nonlinear dynamic, lateral stability limits and the anti-slip constraints.
Proceedings ArticleDOI
Optimal Control for Vehicle Platoon Considering External Disturbances
TL;DR: In this paper , a novel controller that is composed of a linear quadratic regulator (LQR)-based controller and a sliding mode controller (SMC) is designed to guarantee the consensus of vehicle platoon considering the effect of external disturbances.
Journal ArticleDOI
Distributed MPC-Based String Stable Platoon Control of Networked Vehicle Systems
TL;DR: In this article , the string stable platoon control problem of discrete-time networked vehicle systems is considered by using distributed model predictive control (MPC) based method, and an optimization problem is established to minimize the cost function associated to the system trajectories.
Journal ArticleDOI
Design of Adaptive Cruise Control with Control Barrier Function and Model-Free Control
Caio Igor Gonçalves Chinelato,Bruno Augusto Angélico,João F. Justo,Armando Antônio Maria Laganá +3 more
Proceedings ArticleDOI
Development of A Multi-functional Healthy Home Environment System
TL;DR: In this article, the authors used a variety of related sensors, wireless sensing network technology, build a cloud database, and design APP to develop the system, which includes two parts: (1) Autonomous health management warning system and (2) Home environmental safety warning system.
References
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Book
Sliding Modes in Control and Optimization
TL;DR: The theory and practical application of Lyapunov's Theorem, a method for the Study of Non-linear High-Gain Systems, are studied.
Book
Vehicle dynamics and control
TL;DR: In this paper, the authors present a mean value model of SI and Diesel engines, and design and analysis of passive and active automotive suspension components, as well as semi-active and active suspensions.
Journal ArticleDOI
Sliding order and sliding accuracy in sliding mode control
TL;DR: It turns out that the deviation of the system from its prescribed constraints (sliding accuracy) is proportional to the switching time delay and a new class of sliding modes and algorithms is presented and the concept of sliding mode order is introduced.
Book
Sliding mode control in electromechanical systems
TL;DR: Sliding mode control (SMC) is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems as mentioned in this paper, and is particularly useful for electro-mechanical systems because of its discontinuous structure.
Journal ArticleDOI
Disturbance-Observer-Based Control and Related Methods—An Overview
TL;DR: This survey gives a systematic and comprehensive tutorial and summary on the existing disturbance/uncertainty estimation and attenuation techniques, most notably, DOBC, active disturbance rejection control, disturbance accommodation control, and composite hierarchical antidisturbance control.
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Experimental evaluation of cooperative adaptive cruise control with autonomous mobile robots
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