This study investigates the robust control problem of a heterogeneous vehicular platoon subject to non‐linear and (possibly fast) time‐varying uncertainties. The uncertainties are induced by parameter variations and external disturbances. The bound of the uncertainty is described via a continuous function. Firstly, the platoon is modelled as a coupled uncertain dynamic system. To guarantee collision avoidance and compact formation performance, the bidirectional inequality constraints are established for the spacing error between adjacent vehicles. A mathematical transformation scheme is proposed to convert the bounded state into an unbounded one. Then, based on the Udwdia–Kalaba approach and Lyapunov stability theory, a constraint‐following robust controller is designed. The controller renders the uniform boundedness and uniform ultimate boundedness performance of the unbounded state, which in turn guarantees the bidirectional restrictions for the spacing error. Moreover, an optimal design scheme for the tunable parameter of this controller is proposed to minimise a comprehensive index involving the system performance and control cost. Finally, numerical simulations are conducted to validate the efficiency of the proposed algorithm.
Utilising bidirectional inequality constraints in optimal robust control for heterogeneous vehicular platoons
IET Intelligent Transport Systems ; 14 , 7 ; 802-811
2020-07-01
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
time‐varying uncertainties , system performance , unbounded state , time‐varying systems , compact formation performance , spacing error , collision avoidance , heterogeneous vehicular platoons , mathematical transformation scheme , bidirectional restrictions , robust control problem , control system synthesis , parameter variations , stability , uniform boundedness , continuous function , uncertain systems , Lyapunov methods , optimal design scheme , bidirectional inequality constraints , robust control , control cost , tunable parameter , external disturbances , optimal robust control , bounded state , nonlinear control systems , heterogeneous vehicular platoon subject , nonlinear , asymptotic stability , adaptive control , constraint‐following robust controller , coupled uncertain dynamic system , uniform ultimate boundedness performances
IET | 2020
|Control of Vehicular Platoons using Nearest Neighbor Interactions
SAE Technical Papers | 2015
|