Robust Adaptive Heterogeneous Vehicle Platoon Control Based on Disturbances Estimation and Compensation

This paper presents an investigation into the problem of controlling a heterogeneous vehicle platoon, focusing on two aspects: the impact of noise in sensor measurements and the effect of road slope, wind, and rolling resistance on the longitudinal dynamics of each vehicle. To maintain an adequate s...

Full description

Saved in:
Bibliographic Details
Published in:IEEE access 2024, Vol.12, p.96924-96935
Main Authors: Viadero-Monasterio, Fernando, Melendez-Useros, Miguel, Jimenez-Salas, Manuel, Boada, Beatriz L.
Format: Article
Language:English
Subjects:
Adaptive control
Closed loops
Control systems design
Control theory
Controllers
Disturbances
Engine noise
Estimation
Functional analysis
heterogeneous vehicle platoon
Kalman filters
longitudinal dynamics
Noise control
Noise measurement
Output feedback
platoon control
Resistance
Roads
Robust control
Rolling resistance
Symbols
Symmetric matrices
Topology
Vehicle dynamics
Wind effects
Wind resistance
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents an investigation into the problem of controlling a heterogeneous vehicle platoon, focusing on two aspects: the impact of noise in sensor measurements and the effect of road slope, wind, and rolling resistance on the longitudinal dynamics of each vehicle. To maintain an adequate separation between each follower, a static output feedback (SOF) controller is designed within the predecessor-leader-follower vehicle platoon topology. In order to mitigate the impact of sensor measurement noise and external disturbances on the system, robust control theory is incorporated into the controller design. The engine's control input is adjusted to compensate for external road disturbances affecting the longitudinal dynamics of each vehicle. This estimation is achieved through the use of a Kalman filter. Closed-loop stability of the heterogeneous vehicle platoon is ensured through a Lyapunov functional analysis. Simulations have shown that the proposed methodology achieves smoother platoon following than a strategy that does not consider or compensate the effect of disturbances on the longitudinal dynamics of the vehicle.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3428341