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Research Papers

Guaranteed Cost Adaptive Control of Nonlinear Platoons With Actuator Delay

[+] Author and Article Information
Wei Yue

School of Control Science and Engineering,  Dalian University of Technology, Dalian 116023, Chinayuewei811010@163.com

Ge Guo1

School of Control Science and Engineering,  Dalian University of Technology, Dalian 116023, Chinageguo@yeah.net

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(5), 051012 (Jul 27, 2012) (11 pages) doi:10.1115/1.4006367 History: Received March 23, 2011; Revised February 14, 2012; Published July 26, 2012; Online July 27, 2012

This paper presents a guaranteed cost adaptive control (GCAC) algorithm for vehicular platoons with nonlinear dynamics (i.e., combined nonlinearities of manifold dynamics, aerodynamic drag, unmodeled dynamics, etc.) and actuator delay (i.e., fueling and braking delay). First of all, a nonlinear mathematic model of the platoon’s longitudinal movement is established, which is shown to be a great improvement of the existing models. The controller is designed by splitting the new model into a linear part and a nonlinear one. In particular, we use a radial basis function neural network (RBFNN) to compensate for the nonlinear part by making precise estimation of it based on a decentralized adaptation law. Then a guaranteed cost controller is designed based on the linear part and the adaptive neural network compensator. The obtained control scheme achieves the objective of both individual vehicle stability and platoon string stability. Simulations are given to demonstrate the effectiveness of the proposed method.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 6

Ten-vehicle platoon under Lyapunov controller: responses and spacing propagation characteristics. (a) Spacing errors; (b) accelerations; (c) velocities; and (d) jerks.

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Figure 7

Ten-vehicle platoon under GCAC controller: responses and spacing propagation characteristics. (a) Spacing errors; (b) accelerations; (c) velocities; and (d) jerks.

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Figure 5

Effects of uncertainty on the vehicle platoon. (a) Lyapunov controller in Ref. [12] and (b) GCAC controller.

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Figure 4

Ten-vehicle platoon under GCAC controller: responses and spacing propagation characteristics. (a) Spacing errors; (b) accelerations; (c) velocities; and (d) jerks.

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Figure 3

Ten-vehicle platoon under controller in Ref. [17]: responses and spacing propagation characteristics. (a) Spacing errors; (b) accelerations; (c) velocities; (d) frequency response ∃w:|G(jw)|>1; (e) impulse response ∃t:g(t)<0; and (f) jerks.

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Figure 2

Profile of the lead vehicle

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Figure 1

Platoon of vehicles

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