TY - GEN
T1 - A Low-Complexity Control for Nonlinear Vehicular Platoon with Asymmetric Actuator Saturation
AU - Guo, Xianggui
AU - Wang, Jianliang
AU - Liao, Fang
AU - Xiao, Wendong
AU - Li, Hongjian
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/21
Y1 - 2018/8/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85053165523&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2018.8444358
DO - 10.1109/ICCA.2018.8444358
M3 - Conference contribution
AN - SCOPUS:85053165523
SN - 9781538660898
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 387
EP - 392
BT - 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
PB - IEEE Computer Society
T2 - 14th IEEE International Conference on Control and Automation, ICCA 2018
Y2 - 12 June 2018 through 15 June 2018
ER -