TY - GEN
T1 - Adaptive platoon control for nonlinear vehicular systems with asymmetric input deadzone and inter-vehicular spacing constraints
AU - Guo, Xianggui
AU - Wang, Jianliang
AU - Liao, Fang
AU - Xiao, Wendong
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85046155084&partnerID=8YFLogxK
U2 - 10.1109/CDC.2017.8263696
DO - 10.1109/CDC.2017.8263696
M3 - Conference contribution
AN - SCOPUS:85046155084
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 393
EP - 398
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
Y2 - 12 December 2017 through 15 December 2017
ER -