Abstract
In this paper, a new approach to the decentralized control design for vehicle platooning for uncertain automated highway systems is proposed. The uncertainty in the system, which is nonlinear and (possibly) fast time-varying, is bounded. The bound is assumed to be within a prescribed fuzzy set. A creative transformation is made to the system, which converts a local problem to a global problem. Based on the fuzzy description of the uncertainty bound and the transformation, a class of decentralized control is proposed in which each vehicle only needs the knowledge of its preceding vehicle in the platoon. No acceleration feedback or the information of the leading vehicle is required. Both the vehicle platooning system and the control are deterministic, hence not if-then fuzzy rule-based. The performance of the resulting controlled system is twofold. First, the collision avoidance performance is guaranteed under any safe initial conditions regardless of the value of the uncertainty. Second, the minimization of a fuzzy-based performance index is guaranteed based on an optimal choice of a control design parameter. Numerical simulations are conducted to validate the efficiency of the proposed algorithm.
Highlights
Introduction e Automated Highway System (AHS) is a proposed intelligent transportation system (ITS) technology designed to increase capacity and safety with the increasingly severe traffic congestion since the last two decades. e basic idea is by grouping vehicles into platoons at closer spacing under automatic control, which cannot be achieved by human drivers alone, to increase the capacity on highways [1, 2]
A new approach is proposed to the decentralized control design for vehicle platooning for uncertain automated highway systems
E uncertainty in the system is nonlinear and fast time-varying. e only information about the uncertainty is that it is assumed to be within a prescribed fuzzy set
Summary
A platoon of controlled vehicles is collision avoidable if given any safe initial condition (that is, initially noncolliding or ei(t0) < Δdi ): ei(t) < Δdi ,. E control objective for vehicle platooning is stated as follows: design the control ui in (4) for the ith vehicle in the platoon with available information (will be elaborated later) such that the resulting controlled platoon is collision avoidable under arbitrary safe initial conditions. Assumption 1 (i) Let the initial state of the error dynamics of the ith vehicle in the platoon, which is uncertain, be represented by qi0 [ei0 e_i0]T. Is is the main reason for the transformation from (ei, e_i) to (zi, zi2) If both zi1(t) and zi2(t) are bounded, space error ei(t) ∈ (− ∞, Δdi ), no collision. That the backstepping method [29] can be adopted for the control design, which will be explained
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