A Low-Complexity Control for Nonlinear Vehicular Platoon with Asymmetric Actuator Saturation

Xianggui Guo, Jianliang Wang, Fang Liao, Wendong Xiao, Hongjian Li

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)

Abstract

An approximation-free adaptive PID-based sliding mode control (PIDSMC) scheme is designed for nonlinear vehicle platoon subject to asymmetric actuator saturation, capable of guaranteeing, for any initial system condition, string stability of the whole vehicular platoon. It is shown that under the proposed scheme, the whole vehicle platoon can tolerate the asymmetric actuator saturation and unmodeled dynamic nonlinearities, and the scheme also retains the main advantages of the PIDSMC technique. These advantages include robustness and capability to reduce the spacing errors and chattering and to eliminate the steady-state spacing errors. Moreover, adaptive compensation instead of approximation approach such as neuro-network and fuzzy logic approaches is adopted to attenuate the negative effects caused by asymmetric actuator saturation and unmodeled dynamic nonlinearities. Furthermore, constant time headway is used to achieve the string stability and simultaneously to increase traffic density and address the negative effect of nonzero initial spacing, velocity and acceleration errors. Compared with most existing methods, the proposed method does not linearize the system model and neither requires precise knowledge of the system model. Finally, a numerical example is proposed to show the effectiveness of the proposed scheme.

Original languageEnglish
Title of host publication2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
PublisherIEEE Computer Society
Pages387-392
Number of pages6
ISBN (Print)9781538660898
DOIs
Publication statusPublished - 21 Aug 2018
Externally publishedYes
Event14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States
Duration: 12 Jun 201815 Jun 2018

Publication series

NameIEEE International Conference on Control and Automation, ICCA
Volume2018-June
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Conference

Conference14th IEEE International Conference on Control and Automation, ICCA 2018
Country/TerritoryUnited States
CityAnchorage
Period12/06/1815/06/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Fingerprint

Dive into the research topics of 'A Low-Complexity Control for Nonlinear Vehicular Platoon with Asymmetric Actuator Saturation'. Together they form a unique fingerprint.

Cite this