한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권5호
  • /
  • Pages.137-144
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

Backstepping 방법을 이용한 IVHS에서의 차량군 리드 차량의 종렬제어기 설계

Longitudinal Control of the Lead Vehicle of a Platoon in IVHS using Backstepping Method

  • 박종호 (전북대학교 전자공학과 제어 전공) ;
  • 정길도 (전북대학교 전자정보공학부 메카트로닉스 연구센터)
  • 발행 : 2000.05.01
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초록

In this paper, a longitudinal control of the lead vehicle for a platoon in IVHS Regulation Layer is proposed. The backstepping method has been used for the controller design. This method has an advantage in that its stability need not be proven since the controller is designed based on the Lyapunov Function. The control object is that the lead vehicle tracks a reference velocity and maintains a safe distance between the inter-platoons while the followers are keeping the speed of the lead vehicle of a platoon. The coordinate of system is transformed to a new coordinate system for its convenience to design controller. The new coordinate system is composed of error and new error variable. The error is the difference between the safe distance and the actual distance of inter-platoons. A new error variable is the difference between the velocity of vehicle and the estimated state of a system operated by the virtual input. The Lyapunov function is obtained based on the variables of new coordinate system. In the computer simulation, several cases have been studied such as when the lead vehicle is tracking the optimal speed. or a lead vehicle of the following platoon tracks the velocity of the previous platoon while maintaining a safe distance. Also a nonlinear engine time constant case has been investigated. All the simulation results show that the designed controller satisfies the control object sufficiently.

키워드

참고문헌

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