Journal ArticleDOI
Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration
Reads0
Chats0
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
More filters
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
More filters
Journal ArticleDOI
Tracking control of small-scale helicopters using explicit nonlinear MPC augmented with disturbance observers
TL;DR: In this article, a nonlinear model predictive controller (MPC) and nonlinear disturbance observer is designed to estimate the influence of the external force/torque introduced by wind turbulences, unmodelled dynamics and variations of the helicopter dynamics.
Journal ArticleDOI
Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay
TL;DR: In this paper, an H-infinity control method for a platoon of heterogeneous vehicles with uncertain vehicle dynamics and uniform communication delay is presented, and the requirements of string stability, robustness and tracking performance are explicitly satisfied by casting into the linear fractional transformation format, and a delay-dependent linear matrix inequality is derived to numerically solve the distributed controllers for each vehicle.
Journal ArticleDOI
Optimal Control of Connected Vehicle Systems With Communication Delay and Driver Reaction Time
Jin I. Ge,Gábor Orosz +1 more
TL;DR: It is shown that, by decomposing the optimization problem, the feedback gains can be obtained recursively as signals from vehicles farther ahead become available, and that the gains decay exponentially with the number of cars between the source of the signal and the CCC vehicle.
Journal ArticleDOI
Leader tracking in homogeneous vehicle platoons with broadcast delays
TL;DR: It is shown that in some cases it is possible to achieve string stability in the presence of certain amounts of time delay in the leader state reception.
Proceedings ArticleDOI
A model predictive Cooperative Adaptive Cruise Control approach
Thomas Stanger,Luigi del Re +1 more
TL;DR: A Linear Model Predictive Control approach to Cooperative Adaptive Cruise Control is presented, directly minimizing the fuel consumption rather than the acceleration of the vehicle, using the nonlinear static fuel consumption map of the internal combustion engine.
Related Papers (5)
Experimental evaluation of cooperative adaptive cruise control with autonomous mobile robots
Yuan Lin,Azim Eskandarian +1 more