Robust Cooperative Control of Multiple Autonomous Vehicles for Platoon Formation Considering Parameter Uncertainties

查看全文 作　　者：Weichao [1]Zhuang;Liwei [1]Xu;Guodong [1]Yin

机构地区：[1]School of Mechanical Engineering,Southeast University,Nanjing 211189,China

出　　处：《Automotive Innovation》索引2020年第3卷第1期,共13页

基　　金：privided by National Natural Science Foundation of China(Grant Nos.51805081,51575103 and U1664258). 摘　　要：This paper proposes a robust cooperative control strategy for multiple autonomous vehicles to achieve safe and efficient platoon formation,and it analyzes the effects of vehicle stability boundaries and parameter uncertainties.The cooperative vehicle control framework is composed of the upper planning level and lower tracking control level.In the planning level,the trajectory of each vehicle is generated by using the multi-objective flocking algorithm to form the platoon.The parameters of the flocking algorithm are optimized to prevent the vehicle speed and yaw rate from going beyond their limits.In the lower level,to realize the stable platoon formation,a lumped disturbance observer is designed to gain the stable-state reference,and a distributed robust model predictive controller is proposed to achieve the offset-free trajectory tracking while downsizing the effects of parameter uncertainties.The simulation results show the proposed cooperative control strategy can achieve safe and efficient platoon formation. 关键词：Platoon formation Robust model predictive controller Multiple autonomous vehicles Parameter uncertainty

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Robust Cooperative Control of Multiple Autonomous Vehicles for Platoon Formation Considering Parameter Uncertainties

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