Event-triggered extended state observer based distributed control of nonlinear vehicle platoons

DOI10.1016/J.SYSCONLE.2023.105583zbMATH Open1520.93314arXiv2209.07773MaRDI QIDQ6137814FDOQ6137814

Authors: Anquan Liu, Tao Li, Yu Gu 

Publication date: 4 September 2023

Published in: Systems \& Control Letters (Search for Journal in Brave)

Abstract: We study the platoon control of vehicles with third-order nonlinear dynamics under the constant spacing policy. We consider a vehicle model with parameter uncertainties and external disturbances and propose a distributed control law based on an event-triggered extended state observer (ESO). First, an event-triggered ESO is designed to estimate the unmodeled dynamics in the vehicle model. Then based on the estimate of the unmodeled dynamics, a distributed control law is designed by using a modified dynamic surface control method. The control law of each follower vehicle only uses the information obtained by on-board sensors, including its own velocity, acceleration, the velocity of the preceding vehicle and the inter-vehicle distance. Finally, we give the range of the control parameters to ensure the stability of the vehicle platoon system. It is shown that the control parameters can be properly designed to make the observation errors of the ESOs bounded and ensure the string stability and closed-loop stability. We prove that the Zeno behavior is avoided under the designed event-triggered mechanism. The joint simulations of CarSim and MATLAB are given to demonstrate the effectiveness of the proposed control law.

Full work available at URL: https://arxiv.org/abs/2209.07773

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zbMATH Keywords

platoon controlevent-triggered extended state observermodified dynamic surface control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Discrete event control/observation systems (93C65) Observers (93B53)

Cites Work

• On the convergence of an extended state observer for nonlinear systems with uncertainty
• Stability and robustness of large platoons of vehicles with double-integrator models and nearest neighbor interaction
• Dynamic surface control for a class of nonlinear systems
• On the ill-posedness of certain vehicular platoon control problems
• Cooperative extended state observer based control of vehicle platoons with arbitrarily small time headway

Cited In (13)

• Robust predefined-time platoon control of networked vehicles with uncertain disturbances
• Distributed adaptive control of nonlinear vehicular platoons
• Observer-based output feedback event-triggered robust control for heterogeneous vehicular platoon systems
• Event-triggered cooperative control of vehicle platoons in vehicular ad hoc networks
• Distributed fusion filtering for multi-rate nonlinear systems with random sensor failures under event-triggering round-robin-like scheme
• Nonlinear consensus-based autonomous vehicle platoon control under event-triggered strategy in the presence of time delays
• Nonlinear platoon control of Arduino cars with range-limited sensors
• Observer-based neural adaptive control of a platoon of autonomous tractor-trailer vehicles with uncertain dynamics
• Distributed integrated sliding mode-based nonlinear vehicle platoon control with quadratic spacing policy
• Connectivity‐maintained and specified‐time vehicle platoon control systems with disturbance observer
• Dynamic triggered-based tracking approach for connected vehicle system via extended observer
• Distributed model reference control for synchronization of a vehicle platoon with limited output information and subject to periodical intermittent information
• Cooperative extended state observer based control of vehicle platoons with arbitrarily small time headway

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