Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics
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,...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2019-07, Vol.27 (4), p.1772-1779 |
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| container_title | IEEE transactions on control systems technology |
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| creator | Zhu, Yuanheng Zhao, Dongbin Zhong, Zhiguang |
| description | 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. |
| doi_str_mv | 10.1109/TCST.2018.2811376 |
| format | Article |
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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.</description><identifier>ISSN: 1063-6536</identifier><identifier>EISSN: 1558-0865</identifier><identifier>DOI: 10.1109/TCST.2018.2811376</identifier><identifier>CODEN: IETTE2</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Acceleration ; Adaptive control ; Adaptive optimal control ; Adaptive systems ; Automobiles ; Complex systems ; cooperative adaptive cruise control (CACC) ; Cooperative control ; Cruise control ; Data transfer (computers) ; heterogeneous platoon ; Optimal control ; Parameter estimation ; Stability criteria ; string stability ; sum-of-squares polynomial ; Transfer functions ; Vehicle dynamics ; Vehicles ; Wireless communications</subject><ispartof>IEEE transactions on control systems technology, 2019-07, Vol.27 (4), p.1772-1779</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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Experiments on numerical and complex systems validate our method.</description><subject>Acceleration</subject><subject>Adaptive control</subject><subject>Adaptive optimal control</subject><subject>Adaptive systems</subject><subject>Automobiles</subject><subject>Complex systems</subject><subject>cooperative adaptive cruise control (CACC)</subject><subject>Cooperative control</subject><subject>Cruise control</subject><subject>Data transfer (computers)</subject><subject>heterogeneous platoon</subject><subject>Optimal control</subject><subject>Parameter estimation</subject><subject>Stability criteria</subject><subject>string stability</subject><subject>sum-of-squares polynomial</subject><subject>Transfer functions</subject><subject>Vehicle dynamics</subject><subject>Vehicles</subject><subject>Wireless communications</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kE1Lw0AQhhdRsFZ_gHhZ8Jy6s985lmitUOmhEY_LJtloSputu1uh_96UFk_vHJ53hnkQugcyASD5U1msygkloCdUAzAlL9AIhNAZ0VJcDjORLJOCyWt0E-OaEOCCqhF6nzZ2l7pfh5dDbO0GF75PwW-wb_HcJRf8l-ud30dcTIsCrw4xuS3-7NI3_uhrF5Ltevx86O22q-MtumrtJrq7c45ROXspi3m2WL6-FdNFVtOcpUxJabnKXaMpk3Wj80oIxRthuZZUcCYrqQhYxtoGoGqFaipeAxFNraBtORujx9PaXfA_exeTWft96IeLhlKWSy2IEgMFJ6oOPsbgWrMLw4fhYICYozRzlGaO0sxZ2tB5OHU659w_rxklmhP2B46nZzU</recordid><startdate>201907</startdate><enddate>201907</enddate><creator>Zhu, Yuanheng</creator><creator>Zhao, Dongbin</creator><creator>Zhong, Zhiguang</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Acceleration Adaptive control Adaptive optimal control Adaptive systems Automobiles Complex systems cooperative adaptive cruise control (CACC) Cooperative control Cruise control Data transfer (computers) heterogeneous platoon Optimal control Parameter estimation Stability criteria string stability sum-of-squares polynomial Transfer functions Vehicle dynamics Vehicles Wireless communications |
| title | Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics |
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