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Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics

文献类型：期刊论文

作者Zhu, Yuanheng1,2; Zhao, Dongbin1,2; Zhong, Zhiguang3
刊名IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
出版日期2019-07-01
卷号27期号:4页码:1772-1779
关键词Adaptive optimal control cooperative adaptive cruise control (CACC) heterogeneous platoon string stability sum-of-squares polynomial
ISSN号1063-6536
DOI10.1109/TCST.2018.2811376
通讯作者Zhao, Dongbin(dongbin.zhao@ia.ac.cn)
英文摘要Cooperative adaptive cruise control (CACC), as an extension of adaptive cruise control, connects multiple vehicles in a platoon via wireless communication. In practice, different vehicles may have different dynamic parameters and their exact values are unknown/uncertain to designers. In this brief, we propose a new control structure that uses an estimate of dynamic parameters to transform the heterogeneous CACC problem into the regulation problem of error dynamics for each vehicle in the platoon. An adaptive optimal control is proposed to learn the optimal feedback based on online data. The position transfer function between adjacent vehicles is further analyzed in the frequency domain. By sum of squares programming, the minimum headway values that ensure the vehicle string stability are found. Experiments on numerical and complex systems validate our method.
WOS关键词CRUISE CONTROL ; DESIGN
资助项目National Natural Science Foundation of China[61603382] ; National Natural Science Foundation of China[61573353] ; National Natural Science Foundation of China[61533017] ; National Natural Science Foundation of China[LY15F030008]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000471717100035
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/26033]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队
通讯作者Zhao, Dongbin
作者单位1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Ningbo Univ, Coll Sci & Technol, Ningbo 315212, Zhejiang, Peoples R China
推荐引用方式
GB/T 7714		 Zhu, Yuanheng,Zhao, Dongbin,Zhong, Zhiguang. Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2019,27(4):1772-1779.
APA Zhu, Yuanheng,Zhao, Dongbin,&Zhong, Zhiguang.(2019).Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,27(4),1772-1779.
MLA Zhu, Yuanheng,et al."Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 27.4(2019):1772-1779.

入库方式： OAI收割

来源：自动化研究所

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