Title :
Variable structure adaptive control for vehicle longitudinal following in a platoon
Author :
Ren, Dianbo ; Zhang, Jiye ; Du, Cheng
Author_Institution :
Sch. of Inf. Sci. & Technol., Southwest Jiaotong Univ., Chengdu
Abstract :
In this paper, by the Lyapunov function method, based on the nonlinear dynamical coupled model of string of vehicles, the problem of stability of a vehicle string in the presence of parametric uncertainty and time delays is studied, the decentralized adaptive algorithm to compensate for parametric variations is investigated and the variable structure longitudinal control laws for each vehicle in the platoon are designed. From the simulation of the vehicle platoon, convergence rate of spacing errors of the vehicle platoon is fast.
Keywords :
Lyapunov methods; adaptive control; automated highways; compensation; delay systems; multivariable systems; nonlinear control systems; road vehicles; stability; variable structure systems; Lyapunov function; automated vehicle following system; compensation; decentralized adaptive algorithm; nonlinear dynamical coupled model; parametric uncertainty; stability; time delay; variable structure adaptive control; vehicle longitudinal following; vehicle platoon; vehicle string; Adaptive algorithm; Adaptive control; Algorithm design and analysis; Convergence; Couplings; Delay effects; Lyapunov method; Stability; Uncertainty; Vehicles; Lyapunov function method; adaptive control; automated vehicle following system; time delays;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522458
