Trajectory Tracking Control for Connected Vehicle Platoon
| Autor: | Yongfu Li, Changqiang Wu, Yibing Wang, Srinivas Peeta |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Lyapunov function
050210 logistics & transportation 0209 industrial biotechnology Computer science 05 social sciences Stability (learning theory) Topology (electrical circuits) 02 engineering and technology Tracking (particle physics) symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory 0502 economics and business symbols Trajectory Platoon Focus (optics) |
| Zdroj: | IFAC-PapersOnLine. 51:92-97 |
| ISSN: | 2405-8963 |
| Popis: | This study addresses the problem of trajectory tracking control for connected vehicle (CV) platoon with a focus on the car-following interactions between CVs. In particular, a bidirectional leader-follower topology is exploited to characterize the communication connections among CVs. Then, a dynamic controller for follower vehicles is designed by considering the position error and velocity difference with respect to the leader, and the car-following interactions. The stability of the proposed algorithm is analyzed using the Lyapunov technique. Simulation experiments under two scenarios: no disturbance and with disturbance acting on the leader are performed. Finally, field experiments are conducted by using four equipped vehicles in a realistic vehicle-to-vehicle/vehicle-to-infrastructure (V2V/V2I, or V2X for short) communication environment. Both the simulation and field experiment results demonstrate the feasibility and effectiveness of the proposed controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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