Journal of University of Science and Technology of China ›› 2019, Vol. 49 ›› Issue (7): 588-594.DOI: 10.3969/j.issn.0253-2778.2019.07.009
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ZHONG Bin
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Abstract: The distributed adaptive control problem of vehicular platoon is considered. The vehicle longitudinal dynamics is modeled by a second-order nonlinear model with uncertain parameters. And the directed graph is used to describe the relationship of information transmission between vehicles. By utilizing dynamic gain technique, a distributed adaptive controller independent of the global platoon information is proposed. Moreover, when the split/join maneuver happens, it is shown that the control objective can be reached without redesigning the distributed controller as long as the interaction graph contains a directed spanning tree with the leading vehicle as the root. The numerical simulation results demonstrate the effectiveness of the proposed control law.
Key words: vehicular platoon, distributed control, adaptive control, dynamic gain technique, parameter uncertainties
ZHONG Bin, WANG Xinghu, SHENG Jie. Distributed adaptive control of nonlinear vehicular platoons[J]. Journal of University of Science and Technology of China, 2019, 49(7): 588-594.
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URL: http://just-cn.ustc.edu.cn/EN/10.3969/j.issn.0253-2778.2019.07.009
http://just-cn.ustc.edu.cn/EN/Y2019/V49/I7/588