Hongbo Lei , Jian Sun , Ye Zeng , Lingxiao Yi , Fengling Wang
{"title":"间歇通信条件下具有未知匹配和不匹配干扰的异构车辆排的滑模控制","authors":"Hongbo Lei , Jian Sun , Ye Zeng , Lingxiao Yi , Fengling Wang","doi":"10.1016/j.vehcom.2023.100718","DOIUrl":null,"url":null,"abstract":"<div><p>In this work, we investigate a longitudinal platooning control problem of heterogeneous vehicles with a focus on external unknown disturbances, parameter uncertainties and intermittent communications. When vehicle platooning encounter intermittent communications, the performance of the platooning will be degraded. Nevertheless, the existing researches can not deal with the aforementioned three issues effectively. To this end, a novel nonsingular dynamic terminal sliding-mode control (NDTSMC) law is contrived. First, for a heterogeneous cooperative adaptive cruise control (CACC) or adaptive cruise control (ACC) platooning system of mixed vehicles, a hybrid mathematical reference model is developed. Then, we propose a CACC-ACC switched approach which activates either a CACC mode or an enhanced ACC mode relied on communication reliability. The unknown disturbances and parameter uncertainties can be together served as a unknown lumped matched (or mismatched) disturbance, depending on the circumstances. The unknown lumped matched (or mismatched) disturbance can be estimated by a finite-time disturbance observer (FTDO). Based on the observation, a novel switched controller consisting of a baseline controller part and an observation-based NDTSMC law part is proposed. Furthermore, combined with Lyapunov stability theory, it can be demonstrated that the stability of the string of mixed vehicles in the heterogeneous platoon can be robustly guaranteed after switching. Simulation examples show that the proposed approach exhibits satisfactory control properties for addressing intermittent communications. The convincing performances for attenuating parameter uncertainties and external unknown disturbances are achieved, which are also shown in simulations.</p></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":null,"pages":null},"PeriodicalIF":5.8000,"publicationDate":"2023-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Sliding-mode control for heterogeneous vehicular platoons with unknown matched and mismatched disturbances under intermittent communications\",\"authors\":\"Hongbo Lei , Jian Sun , Ye Zeng , Lingxiao Yi , Fengling Wang\",\"doi\":\"10.1016/j.vehcom.2023.100718\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>In this work, we investigate a longitudinal platooning control problem of heterogeneous vehicles with a focus on external unknown disturbances, parameter uncertainties and intermittent communications. When vehicle platooning encounter intermittent communications, the performance of the platooning will be degraded. Nevertheless, the existing researches can not deal with the aforementioned three issues effectively. To this end, a novel nonsingular dynamic terminal sliding-mode control (NDTSMC) law is contrived. First, for a heterogeneous cooperative adaptive cruise control (CACC) or adaptive cruise control (ACC) platooning system of mixed vehicles, a hybrid mathematical reference model is developed. Then, we propose a CACC-ACC switched approach which activates either a CACC mode or an enhanced ACC mode relied on communication reliability. The unknown disturbances and parameter uncertainties can be together served as a unknown lumped matched (or mismatched) disturbance, depending on the circumstances. The unknown lumped matched (or mismatched) disturbance can be estimated by a finite-time disturbance observer (FTDO). Based on the observation, a novel switched controller consisting of a baseline controller part and an observation-based NDTSMC law part is proposed. Furthermore, combined with Lyapunov stability theory, it can be demonstrated that the stability of the string of mixed vehicles in the heterogeneous platoon can be robustly guaranteed after switching. Simulation examples show that the proposed approach exhibits satisfactory control properties for addressing intermittent communications. The convincing performances for attenuating parameter uncertainties and external unknown disturbances are achieved, which are also shown in simulations.</p></div>\",\"PeriodicalId\":54346,\"journal\":{\"name\":\"Vehicular Communications\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":5.8000,\"publicationDate\":\"2023-12-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Vehicular Communications\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S2214209623001481\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"TELECOMMUNICATIONS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Vehicular Communications","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2214209623001481","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"TELECOMMUNICATIONS","Score":null,"Total":0}
Sliding-mode control for heterogeneous vehicular platoons with unknown matched and mismatched disturbances under intermittent communications
In this work, we investigate a longitudinal platooning control problem of heterogeneous vehicles with a focus on external unknown disturbances, parameter uncertainties and intermittent communications. When vehicle platooning encounter intermittent communications, the performance of the platooning will be degraded. Nevertheless, the existing researches can not deal with the aforementioned three issues effectively. To this end, a novel nonsingular dynamic terminal sliding-mode control (NDTSMC) law is contrived. First, for a heterogeneous cooperative adaptive cruise control (CACC) or adaptive cruise control (ACC) platooning system of mixed vehicles, a hybrid mathematical reference model is developed. Then, we propose a CACC-ACC switched approach which activates either a CACC mode or an enhanced ACC mode relied on communication reliability. The unknown disturbances and parameter uncertainties can be together served as a unknown lumped matched (or mismatched) disturbance, depending on the circumstances. The unknown lumped matched (or mismatched) disturbance can be estimated by a finite-time disturbance observer (FTDO). Based on the observation, a novel switched controller consisting of a baseline controller part and an observation-based NDTSMC law part is proposed. Furthermore, combined with Lyapunov stability theory, it can be demonstrated that the stability of the string of mixed vehicles in the heterogeneous platoon can be robustly guaranteed after switching. Simulation examples show that the proposed approach exhibits satisfactory control properties for addressing intermittent communications. The convincing performances for attenuating parameter uncertainties and external unknown disturbances are achieved, which are also shown in simulations.
期刊介绍:
Vehicular communications is a growing area of communications between vehicles and including roadside communication infrastructure. Advances in wireless communications are making possible sharing of information through real time communications between vehicles and infrastructure. This has led to applications to increase safety of vehicles and communication between passengers and the Internet. Standardization efforts on vehicular communication are also underway to make vehicular transportation safer, greener and easier.
The aim of the journal is to publish high quality peer–reviewed papers in the area of vehicular communications. The scope encompasses all types of communications involving vehicles, including vehicle–to–vehicle and vehicle–to–infrastructure. The scope includes (but not limited to) the following topics related to vehicular communications:
Vehicle to vehicle and vehicle to infrastructure communications
Channel modelling, modulating and coding
Congestion Control and scalability issues
Protocol design, testing and verification
Routing in vehicular networks
Security issues and countermeasures
Deployment and field testing
Reducing energy consumption and enhancing safety of vehicles
Wireless in–car networks
Data collection and dissemination methods
Mobility and handover issues
Safety and driver assistance applications
UAV
Underwater communications
Autonomous cooperative driving
Social networks
Internet of vehicles
Standardization of protocols.