불확실한 동역학을 갖는 차량의 군집 주행을 위한 외란 관측기 기반의 강인 제어 기법

Abstract

Vehicle platooning is a technology that drives a group of vehicles over very close distances between vehicles. By maintaining short inter-vehicle distances, platooning reduces fuel consumption and increases road capacity. However, the string stability, a characteristic that does not amplify the inter-vehicle distance errors toward the tail of the platoon, cannot be guaranteed for platoons with uncertain dynamics. In this paper, a disturbance observer based robust control approach is proposed to improve the string stability of the platoon when dynamics of its members are uncertain. Since an uncertain system behaves like a disturbance-free nominal system by the disturbance observer, this approach allows all vehicles in the platoon to operate like the same nominal model so that one can ensure the string stability by applying conventional cooperative adaptive cruse control techniques.