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

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1906

Lastpage

1910

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ROBIO.2007.4522458

Filename

4522458