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

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

직진 주행 차량의 강인 적응제어 구조설계

Design of a Robust Adaptive Control Scheme for Longitudinal Motion of Vehicles

  • 발행 : 2001.01.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the dynamics of each vehicle within the platoon. The external disturbances such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicles's acceleration. The proposed controller guarantees to recover platoon stability in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. It is shown that the proposed observer is exponentially stable, and the at the robust adaptive controller is stable. The simulation results demonstrate excellent tracking even in the presence of disturbances.

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 System Dynamics, vol. 23, pp. 647-664, 1994 https://doi.org/10.1080/00423119408969079
  4. 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
  5. 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
  6. 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
  7. 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
  8. S. B. Choi and J. K. Hedrick, 'Vehicle Longitudinal Control Using an Adaptive Observer for Automated Highway Systems,' Proceedings of the American Control Conference, Seattle, Washington, pp. 3106-3110, June 1995 https://doi.org/10.1109/ACC.1995.532088
  9. C. C. Chen and P. Ioannou, 'Automatic Vehicle Following,' Proceedings of the American Control Conference, pp. 1748-1752, 1992
  10. C. C. Chen, A. Stotsky and P. Ioannou, 'Robust Platoon-stable Controller Design for Autonomous Intelligent Vehicles,' Proceedings of the 33rd IEEE Conf. on Decision and Control, pp. 2431-2436, 1994 https://doi.org/10.1109/CDC.1994.411449
  11. Shahab Sheikholeslam, 'Control of a class of interconnected nonlinear dynamical system : the platoon problem,' PH. D. Dissertation, University of California, Berkeley, 1991
  12. P. Ioannou and C. C. Chen, 'Autonomous Intelligent cruise Control,' IEEE Trans. on vehicular Technology, pp. 657-672, 1993 https://doi.org/10.1109/25.260745
  13. K. S. Narendra and A. Annaswamy, Stable Adaptive Systems, Prentice Hall Information and System Science Series, 1989