Nonlinear adaptive cruise control of vehicular platoons
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Publication:6040971
Abstract: The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive vehicles and their speeds. It is shown that the proposed novel controllers guarantee safety (collision avoidance) and bounded vehicle speeds by explicitly characterizing the set of allowable inputs. Moreover, we guarantee global asymptotic stability of the platoon to a desired configuration as well as string stability. Certain macroscopic properties are also investigated. The efficiency of the nonlinear adaptive cruise controllers is demonstrated by means of a numerical example.
Recommendations
- Distributed adaptive control of nonlinear vehicular platoons
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- Distributed adaptive control for vehicular platoon with unknown dead-zone inputs and velocity/acceleration disturbances
- Platoon speed receding horizon dynamic programming and nonlinear control
- Control of vehicle platoons for highway safety and efficient utility: consensus with communications and vehicle dynamics
- Nonlinear consensus-based autonomous vehicle platoon control under event-triggered strategy in the presence of time delays
- Cooperative optimal control for connected and automated vehicles platoon
- Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
Cites work
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- Distributed adaptive control for vehicular platoon with unknown dead-zone inputs and velocity/acceleration disturbances
- Disturbance Propagation in Vehicle Strings
- Existence of decentralized controllers for vehicle platoons: on the role of spacing policies and available measurements
- scientific article; zbMATH DE number 3337915 (Why is no real title available?)
- Interior Methods for Nonlinear Optimization
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- String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances
- String stability of interconnected systems
- Vehicle Dynamics and Control
- Vehicle Platoons Through Ring Coupling
Cited in
(22)- Neural adaptive sliding-mode control of a bidirectional vehicle platoon with velocity constraints and input saturation
- Nonlinear dynamics of autonomous vehicles with limits on acceleration
- Robust platoon-stable controller design for autonomous intelligent vehicles
- Sampling-based cooperative adaptive cruise control subject to communication delays and actuator lags
- Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads
- Non-linear MPC for longitudinal and lateral control of vehicle's platoon with insert and exit manoeuvres
- Funnel cruise control
- Nonlinear spacing policies for vehicle platoons: a geometric approach to decentralized control
- Robust Approximate Constraint‐Following Control for Autonomous Vehicle Platoon Systems
- Nonlinear network modes in cyclic systems with applications to connected vehicles
- Distributed adaptive control of nonlinear vehicular platoons
- Multi-objective adaptive cruise control (ACC) algorithm for cooperative ACC platooning
- Platoon speed receding horizon dynamic programming and nonlinear control
- Connected cruise control with delayed feedback and disturbance: an adaptive dynamic programming approach
- Wave-absorbing vehicular platoon controller
- Nonlinear platoon control of Arduino cars with range-limited sensors
- Robust vehicle lane keeping control with networked proactive adaptation
- Cruise controllers for lane-free ring-roads based on control Lyapunov functions
- Nonlinear predictor-feedback cooperative adaptive cruise control of vehicles with nonlinear dynamics and input delay
- A convex and robust distributed model predictive control for heterogeneous vehicle platoons
- Safe platooning and merging control using constructive barrier feedback
- Nonlinear cruise controllers with bidirectional sensing for a string of vehicles
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