This paper presents a guaranteed cost adaptive control (GCAC) algorithm for vehicular platoons with nonlinear dynamics (i.e., combined nonlinearities of manifold dynamics, aerodynamic drag, unmodeled dynamics, etc.) and actuator delay (i.e., fueling and braking delay). First of all, a nonlinear mathematic model of the platoon’s longitudinal movement is established, which is shown to be a great improvement of the existing models. The controller is designed by splitting the new model into a linear part and a nonlinear one. In particular, we use a radial basis function neural network (RBFNN) to compensate for the nonlinear part by making precise estimation of it based on a decentralized adaptation law. Then a guaranteed cost controller is designed based on the linear part and the adaptive neural network compensator. The obtained control scheme achieves the objective of both individual vehicle stability and platoon string stability. Simulations are given to demonstrate the effectiveness of the proposed method.
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e-mail: yuewei811010@163.com
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September 2012
Research Papers
Guaranteed Cost Adaptive Control of Nonlinear Platoons With Actuator Delay
Wei Yue,
Wei Yue
School of Control Science and Engineering,
e-mail: yuewei811010@163.com
Dalian University of Technology
, Dalian 116023, China
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Ge Guo
Ge Guo
School of Control Science and Engineering,
e-mail: geguo@yeah.net
Dalian University of Technology
, Dalian 116023, China
Search for other works by this author on:
Wei Yue
School of Control Science and Engineering,
Dalian University of Technology
, Dalian 116023, China
e-mail: yuewei811010@163.com
Ge Guo
School of Control Science and Engineering,
Dalian University of Technology
, Dalian 116023, China
e-mail: geguo@yeah.net
J. Dyn. Sys., Meas., Control. Sep 2012, 134(5): 051012 (11 pages)
Published Online: July 27, 2012
Article history
Received:
March 23, 2011
Revised:
February 14, 2012
Published:
July 26, 2012
Online:
July 27, 2012
Citation
Yue, W., and Guo, G. (July 27, 2012). "Guaranteed Cost Adaptive Control of Nonlinear Platoons With Actuator Delay." ASME. J. Dyn. Sys., Meas., Control. September 2012; 134(5): 051012. https://doi.org/10.1115/1.4006367
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