Adaptive platoon control for nonlinear vehicular systems with asymmetric input deadzone and inter-vehicular spacing constraints

Xianggui Guo, Jianliang Wang, Fang Liao, Wendong Xiao

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

9 Citations (Scopus)

Abstract

This paper investigates the adaptive platoon control for nonlinear vehicular systems with asymmetric nonlinear input deadzone and inter-vehicular spacing constraints. Vehicular platoon control encounters great challenges from unmodeled dynamic uncertainties, unknown external disturbances, unknown asymmetric nonlinear input deadzone and inter-vehicular spacing constraints. In order to avoid collisions between consecutive vehicles as well as the connectivity breaks owing to limited sensing capabilities, a symmetric barrier Lyapunov function is employed. Then, a neural-network-based terminal sliding mode control (TSMC) scheme with minimal learning parameters is developed to maintain inter-vehicles keep connectivity and simultaneously avoid collisions. The uniform ultimate boundedness of all signals in the whole vehicular platoon control system is proven via Lyapunov analysis. Finally, a numerical example is proposed to show the effectiveness of the proposed scheme.

Original languageEnglish
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages393-398
Number of pages6
ISBN (Electronic)9781509028733
DOIs
Publication statusPublished - 28 Jun 2017
Externally publishedYes
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: 12 Dec 201715 Dec 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Conference

Conference56th IEEE Annual Conference on Decision and Control, CDC 2017
Country/TerritoryAustralia
CityMelbourne
Period12/12/1715/12/17

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Adaptive platoon control for nonlinear vehicular systems with asymmetric input deadzone and inter-vehicular spacing constraints'. Together they form a unique fingerprint.

Cite this