대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

관측자를 이용한 직진 주행 차량의 적응 제어

Observer Based Adaptive Control of Longitudinal Motion of Vehicles

  • 발행 : 2001.03.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed on this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

키워드

참고문헌

  1. J. T. Spooner and K. M. Passino, 'Adaptive Control of a Class of Decentralized Nonlinear Systems,' IEEE Trans. on Automat. Contr., vol. 41, no. 2, pp. 280-284, 1996 https://doi.org/10.1109/9.481548
  2. S. Sheikholeslam and C. A. Desoer, 'A System Level Study of the Longitudinal Control of a Platoon of Vehicles,' Journal of Dynamic Systems, Measurement and Control, vol. 114, pp. 286-292, June 1992
  3. T. Fujioka and K. Suzuki, 'Control of Longitudinal and Lateral Platoon Using Sliding Control,' Vehicle Systems Dynamics, vol. 23, pp. 647-664, 1994 https://doi.org/10.1080/00423119408969079
  4. M. Tomizuka and J. K. Hedrick, 'Automated Vehicle Control for IVHS Systems,' IFAC 12th Triennial World Congress, Sydney, Australia, pp. 109-112, 1993
  5. St. Germann and R. Isermann, 'Modelling and Control of Longitudinal Vehicle Motion,' Proceedings of the American Contr. Conf. Baltimore, Maryland, pp. 1-5, 1994 https://doi.org/10.1109/ACC.1994.751681
  6. D. N. Godbole and J. Lygeros, 'Longitudinal Control of the Lead Car of a Platoon,' Proceedings of the American Contr. Conf., vol. 1, pp. 398-402, 1994 https://doi.org/10.1109/ACC.1994.751766
  7. D. H. McMahon, V. K. Narendran, D. Swaroop, J. K. Hedrick, K. S. Chang, and P. E. Devlin, 'Longitudinal Vehicle Controllers for IVHS: Theory and Experiment,' Proceedings of the American Contr. Conf., pp. 1753-1757, 1992
  8. A. Hoess, 'Realisation of an Intelligent Cruise Control System Utilizing Classification of Distance, Relative Speed and Vehicle Speed Information,' Proceedings of the Intelligent Vehicles '94 Symposium, pp. 7-12, 1994 https://doi.org/10.1109/IVS.1994.639461
  9. D. H. McMahon, J. K. Hedrick and S. E. Shladover, 'Vehicle Modelling and Control for Automated Highway Systems,' Proceedings of the American Contr. Conf., vol. 1, pp. 297-303, 1990
  10. P. Ioannou, Z. Xu, S. Eckert, D. Clemons and T. Sieja, 'Intelligent Cruise Control: Theory and Experiment,' Proceedings of the 32nd IEEE Conf. on Decision and Control, vol. 2, pp. 1885-1890, 1993 https://doi.org/10.1109/CDC.1993.325521
  11. S. B. Choi and J. K. Hedrick, 'Vehicle Longitudinal Control Using an Adaptive Observer for Automated Highway Systems,' Proceedings of the American Contr. Conf., Seattle, Washington, pp. 3106-3110, June 1995 https://doi.org/10.1109/ACC.1995.532088
  12. S. Seshagiri and H. K. Khalil, 'Longitudinal Adaptive Control of a Platoon of Vehicles,' Proceedings of the American Contr. Conf., pp. 3681-3685, June 1999 https://doi.org/10.1109/ACC.1999.782453