Collaborative Control for Intelligent Motorcade Systems: State Transformation, Adaptive Robustness and Stability Hefei University of Technology

Format:

Book

Conference/Event

Author/Creator:

Zhao, Xiaomin, author.

Contributor:

Dong, Fangfang

Huang, Jin

Lin, Yuming

Wang, Teng

Conference Name:

SAE 2022 Intelligent and Connected Vehicles Symposium (2022-11-03 : Shanghai, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2022

Summary:

The intelligent unmanned ground vehicle (UGV) motorcade system consisting of one leader and n 1 followers is considered. The safety distance between the front and rear UGVs is treated as the control target. Since the safety distance constraint is a unilateral constraint, the state transformation is needed. Hence, a piecewise type conversion function is formulated to serve for the transformation of the original inequality constraint. The system equation is further expressed by the new state. We assume that the input of the leading UGV is known. Combined with the uncertainty evaluation, a class of collaborative controls for the following UGVs is proposed to deal with the uncertainty with unknown bound. The effectiveness of the designed control is verified by both Lyapunov stability theory and simulations. Both theoretical and simulation results illustrate that the longitudinal safety, stability and global behavior of the intelligent motorcade system are guaranteed

Notes:

Vendor supplied data

Publisher Number:

2022-01-7069

Access Restriction:

Restricted for use by site license