具有稳定分散线性反馈控制的异构车辆队列

Amir Zakerimanesh, T. Qiu, M. Tavakoli
{"title":"具有稳定分散线性反馈控制的异构车辆队列","authors":"Amir Zakerimanesh, T. Qiu, M. Tavakoli","doi":"10.1109/ICAS49788.2021.9551150","DOIUrl":null,"url":null,"abstract":"Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages, namely, increasing highway capacity and safety, and reducing fuel consumption. In this paper, using linearized longitudinal dynamic models for each vehicle, we investigate the control problem of vehicular platooning to have all vehicles followed the leader under a constant spacing policy. Under decentralized linear feedback controllers and taking account of heterogeneity in the dynamic models and feedback information to the vehicles, a general dynamic representation for the platoon is obtained. Having this and the proposed controller, stability analysis is developed for any information flow topology (IFT) between vehicles and any number of vehicles. As a case study, a platoon with one leader and two followers is investigated through the proposed strategy, and its stability conditions are provided. Numerical simulations are provided in which the stability range of control gains and the effect of different FTs on the performance of the platoon are discussed.","PeriodicalId":287105,"journal":{"name":"2021 IEEE International Conference on Autonomous Systems (ICAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Heterogeneous Vehicular Platooning with Stable Decentralized Linear Feedback Control\",\"authors\":\"Amir Zakerimanesh, T. Qiu, M. Tavakoli\",\"doi\":\"10.1109/ICAS49788.2021.9551150\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages, namely, increasing highway capacity and safety, and reducing fuel consumption. In this paper, using linearized longitudinal dynamic models for each vehicle, we investigate the control problem of vehicular platooning to have all vehicles followed the leader under a constant spacing policy. Under decentralized linear feedback controllers and taking account of heterogeneity in the dynamic models and feedback information to the vehicles, a general dynamic representation for the platoon is obtained. Having this and the proposed controller, stability analysis is developed for any information flow topology (IFT) between vehicles and any number of vehicles. As a case study, a platoon with one leader and two followers is investigated through the proposed strategy, and its stability conditions are provided. Numerical simulations are provided in which the stability range of control gains and the effect of different FTs on the performance of the platoon are discussed.\",\"PeriodicalId\":287105,\"journal\":{\"name\":\"2021 IEEE International Conference on Autonomous Systems (ICAS)\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE International Conference on Autonomous Systems (ICAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAS49788.2021.9551150\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Autonomous Systems (ICAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAS49788.2021.9551150","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

队列控制(Platooning)是指控制一组自动驾驶车辆(多个follower和一个leader),使它们之间保持期望的距离,同时沿着期望的轨迹行驶,最近在控制工程学科中流行起来。车队行驶具有提高公路通行能力和安全性、降低油耗等优点。本文利用线性化的车辆纵向动力学模型,研究了在一定间距下,所有车辆跟随领队的车辆队列的控制问题。在分散线性反馈控制下,考虑了动态模型的异构性和反馈给车辆的信息,得到了排的一般动态表示。有了这个控制器和所提出的控制器,就可以对车辆和任意数量的车辆之间的任何信息流拓扑(IFT)进行稳定性分析。以一个领队两个随从的排为例,给出了该排的稳定性条件。给出了数值模拟,讨论了控制增益的稳定范围和不同傅立叶变换对排性能的影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Heterogeneous Vehicular Platooning with Stable Decentralized Linear Feedback Control
Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages, namely, increasing highway capacity and safety, and reducing fuel consumption. In this paper, using linearized longitudinal dynamic models for each vehicle, we investigate the control problem of vehicular platooning to have all vehicles followed the leader under a constant spacing policy. Under decentralized linear feedback controllers and taking account of heterogeneity in the dynamic models and feedback information to the vehicles, a general dynamic representation for the platoon is obtained. Having this and the proposed controller, stability analysis is developed for any information flow topology (IFT) between vehicles and any number of vehicles. As a case study, a platoon with one leader and two followers is investigated through the proposed strategy, and its stability conditions are provided. Numerical simulations are provided in which the stability range of control gains and the effect of different FTs on the performance of the platoon are discussed.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Improving Automated Search for Underwater Threats Using Multistatic Sensor Fields by Incorporating Unconfirmed Track Information Matching Models for Crowd-Shipping Considering Shipper’s Acceptance Uncertainty Observational Learning: Imitation Through an Adaptive Probabilistic Approach Simultaneous Calibration of Positions, Orientations, and Time Offsets, Among Multiple Microphone Arrays Modified crop health monitoring and pesticide spraying system using NDVI and Semantic Segmentation: An AGROCOPTER based approach
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1