Robustly String Stable Longitudinal Control for Vehicle Platoons Under Communication Failures: A Generalized Extended State Observer-Based Control Approach

被引:49
作者
Chen, Qian [1 ,2 ,3 ]
Zhou, Yang [3 ]
Ahn, Soyoung [3 ]
Xia, Jingxin [2 ,4 ]
Li, Shen [5 ,6 ]
Li, Shihua [1 ,2 ]
机构
[1] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China
[2] Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Peoples R China
[3] Univ Wisconsin Madison, Dept Civil & Environm Engn, Madison, WI 53706 USA
[4] Southeast Univ, Sch Transportat, Nanjing, Peoples R China
[5] Tsinghua Univ, Dept Civil Engn, Beijing 100084, Peoples R China
[6] Southeast Univ, Sch Automat, Nanjing, Peoples R China
来源
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES | 2023年 / 8卷 / 01期
基金
中国国家自然科学基金;
关键词
Vehicle platoon; longitudinal control; communication failure; generalized extended state observer-based control; input to state string stability; CRUISE CONTROL; STABILITY; SUBJECT; DESIGN;
D O I
10.1109/TIV.2022.3153472
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper investigates the longitudinal control of vehicle platoons with a focus on external disturbances, parameter uncertainties, and communication failures. When vehicle platoons encounter vehicle to vehicle wireless communication failures, the preceding vehicle's acceleration is unavailable, which degrades the performance of the system. However, the existing achievements can not be directly used to address the aforementioned three issues. To this end, a generalized extended state observer-based control (GESOBC) law is contrived. First, the parameter uncertainties and the external disturbances are together regarded as a lumped disturbance. Then, a generalized extended state observer is designed to estimate the lumped disturbance and the preceding vehicle's acceleration, separately. Based on the estimation, a composite controller consisting of a state feedback control part and an estimation-based feedforward control part is developed. Furthermore, it is proved that the proposed GESOBC method can guarantee the exponentially bounded stability of the individual vehicle and the input to state string stability of the whole vehicle platoon. Finally, numerical simulations are conducted to demonstrate the effectiveness and feasibility of the proposed method.
引用
收藏
页码:159 / 171
页数:13
相关论文
共 44 条
[21]   String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach [J].
Naus, Gerrit J. L. ;
Vugts, Rene P. A. ;
Ploeg, Jeroen ;
van de Molengraft, Marinus J. G. ;
Steinbuch, Maarten .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2010, 59 (09) :4268-4279
[22]   Cooperative Adaptive Cruise Control: Network-Aware Analysis of String Stability [J].
Oencue, Sinan ;
Ploeg, Jeroen ;
van de Wouw, Nathan ;
Nijmeijer, Henk .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2014, 15 (04) :1527-1537
[23]   STRING STABILITY OF RELATIVE-MOTION PID VEHICLE CONTROL-SYSTEMS [J].
PEPPARD, LE .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1974, AC19 (05) :579-581
[24]   Controller Synthesis for String Stability of Vehicle Platoons [J].
Ploeg, Jeroen ;
Shukla, Dipan P. ;
van de Wouw, Nathan ;
Nijmeijer, Henk .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2014, 15 (02) :854-865
[25]   Lp String Stability of Cascaded Systems: Application to Vehicle Platooning [J].
Ploeg, Jeroen ;
van de Wouw, Nathan ;
Nijmeijer, Henk .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2014, 22 (02) :786-793
[26]   On the assessment of vehicle trajectory data accuracy and application to the Next Generation SIMulation (NGSIM) program data [J].
Punzo, Vincenzo ;
Borzacchiello, Maria Teresa ;
Ciuffo, Biagio .
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES, 2011, 19 (06) :1243-1262
[27]   An experimental comparative study of autonomous and co-operative vehicle-follower control systems [J].
Rajamani, R ;
Shladover, SE .
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES, 2001, 9 (01) :15-31
[28]   Heterogeneous string stability of unidirectionally interconnected MIMO LTI systems [J].
Rodonyi, Gabor .
AUTOMATICA, 2019, 103 :354-362
[29]   Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration [J].
Sawant, Jaswandi ;
Chaskar, Uttam ;
Ginoya, Divyesh .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2021, 22 (09) :5589-5598
[30]   Disturbance propagation in vehicle strings [J].
Seiler, P ;
Pant, A ;
Hedrick, K .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (10) :1835-1841