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
Robustly String Stable Longitudinal Control for Vehicle Platoons Under Communication Failures: A Generalized Extended State Observer-Based Control Approach
TL;DR: In this paper , the longitudinal control of vehicle platoons with a focus on external disturbances, parameter uncertainties, and communication failures is investigated, where a generalized extended state observer is designed to estimate the lumped disturbance and the preceding vehicle's acceleration separately.
Journal ArticleDOI
Finite time observer‐based super‐twisting sliding mode control for vehicle platoons with guaranteed strong string stability
TL;DR: In this paper , a composite FTDO-based super twisting SMC method is developed under zero initial spacing deviations, where the parameter uncertainties, external disturbances, and the preceding vehicle's acceleration are estimated as a lumped disturbance by employing an FTDO.
Journal ArticleDOI
String Stability Analysis of Connected Vehicular Systems Based on Car-Following Model
TL;DR: This data indicates that string stability analysis is one of key factors to understanding traffic flow dynamics and cooperative adaptive cruise control vehicles are desired to enhance stability of vehicular flo...
Journal ArticleDOI
Robustly String Stable Longitudinal Control for Vehicle Platoons Under Communication Failures: A Generalized Extended State Observer-Based Control Approach
TL;DR: In this article , the longitudinal control of vehicle platoons with a focus on external disturbances, parameter uncertainties, and communication failures is investigated, where a generalized extended state observer is designed to estimate the lumped disturbance and the preceding vehicle's acceleration separately.
Journal ArticleDOI
Generalized and Heterogeneous Nonlinear Dynamic Multiagent Systems Using Online RNN-Based Finite-Time Formation Tracking Control and Application to Transportation Systems
TL;DR: In this article , an online RNN-based finite-time formation tracking control (ORNN-FTFTC) is designed to quickly accomplish an assigned formation of nonlinear generalized and heterogeneous multiagent systems with input fault and saturation.
References
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Journal ArticleDOI
Tracking control of non-linear systems using sliding surfaces with application to robot manipulators
TL;DR: In this paper, the authors present a methodology of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations.
Journal ArticleDOI
Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
Martin Corless,George Leitmann +1 more
TL;DR: In this article, a class of state feedback controls is proposed in order to guarantee uniform ultimate boundedness of every system response within an arbitrarily small neighborhood of the zero state, and these feedback controls are continuous functions of the state.
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A nonlinear disturbance observer for robotic manipulators
TL;DR: The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators.
Journal ArticleDOI
The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics
TL;DR: The authors study the impacts of CACC for a highway-merging scenario from four to three lanes and show an improvement of traffic-flow stability and a slight increase in Trafficflow efficiency compared with the merging scenario without equipped vehicles.
Journal ArticleDOI
String stability of interconnected systems
D. Swaroop,J.K. Hedrick +1 more
TL;DR: The authors derive sufficient ("weak coupling") conditions which guarantee the asymptotic string stability of a class of interconnected systems and ensure that the states of all the subsystems are all uniformly bounded when a gradient-based parameter adaptation law is used.
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