This study investigates the problem of distributed trajectory optimization and platooning of a group of heterogenous vehicles. A distributed hierarchical framework is proposed for trajectory optimization and tracking control. The role of the upper layer is to provide an optimal trajectory for the vehicle, which is realized by minimizing the inter-vehicle spacing with regard to the desired values using convex optimization. The second layer contains an adaptive sliding mode controller for the vehicle to track the optimal trajectory obtained. To compensate for uncertain vehicle dynamics, a parameter adaptation law is involved in the controller. In the context of sliding mode control based on the tracking error dynamics, the controller parameters are determined so that both internal and string stability are guaranteed. Simulation examples with comparative results are presented to illustrate the effectiveness of the results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Distributed Trajectory Optimization and Sliding Mode Control of Heterogenous Vehicular Platoons


    Contributors:
    Wen, Shixi (author) / Guo, Ge (author)


    Publication date :

    2022-07-01


    Size :

    3904136 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Energy-Aware Distributed Sliding Mode Control for Heterogeneous Vehicle Platoons

    Sun, Chengzhi / Zhang, Yijun / Xiahedan, Haliding | IEEE | 2024


    Provably Safe Cruise Control of Vehicular Platoons

    Sadraddini, Sadra / S, Sivaranjani / Gupta, Vijay et al. | ArXiv | 2017

    Free access