An intelligent connected vehicle (ICV) swarm system that includes N vehicles is considered. Based on the special properties of potential functions, a kinematic model describing the swarm performances is proposed, which allows all vehicles to enclose the tracking target and show both tracking and formation characteristics. Treating the performances as the desired constraints, the analytical form of constraint forces can be obtained inspired by the Udwadia-Kalaba approaches. A special approach of uncertainty decomposition to deal with uncertain interferences is proposed, and a switching-type robust control method is addressed for each vehicle agent in the swarm system. The features and validity of the addressed control are demonstrated in the numerical simulations.


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    Title :

    Robust Trajectory Tracking Control for Intelligent Connected Vehicle Swarm System


    Additional title:

    Sae Technical Papers


    Contributors:
    Huang, Jin (author) / Zhao, Xiaomin (author) / Chen, Ye-hwa (author) / Cui, Zhengrong (author)

    Conference:

    SAE 2022 Intelligent and Connected Vehicles Symposium ; 2022



    Publication date :

    2022-12-22




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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