In addition to the longitudinal dynamics, the lateral control of the platoon can significantly affect its performance on winding road. This paper presents a platoon control framework on winding road for electric vehicles subject to stochastic communication delay and interference. The intervehicle spacing errors (ISEs) in both longitudinal and lateral directions are transformed to an arc-length-based form first. Then, the relationship between single vehicle dynamics and the ISEs is created based on the feedback linearization of the nonlinear system and the arc-length parametric representation of the directed curve. In this way, the whole platoon can be represented by three decoupled linear single-input and single-output systems, i.e., the longitudinal, lateral, and yaw. To assure the steady-state stability of the platoon on a winding road, a robust controller based on the method is designed to suppress the affection of the communication delay and interference. Also, sufficient conditions that achieve the transient stability of the platoon are derived. Simulations are conducted to verify the effectiveness of the proposed method. Results show that the proposed platoon control can realize the stability of the platoon as well as the supernal road traceability.
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April 2019
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Simultaneous Longitudinal and Lateral Control of Vehicle Platoon Subject to Stochastic Communication Delays
Liwei Xu,
Liwei Xu
School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: eagil123@hotmail.com
Southeast University,
Nanjing 211189, China
e-mail: eagil123@hotmail.com
Search for other works by this author on:
Weichao Zhuang,
Weichao Zhuang
School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: wezhuang@seu.edu.cn
Southeast University,
Nanjing 211189, China
e-mail: wezhuang@seu.edu.cn
Search for other works by this author on:
Chentong Bian
Chentong Bian
School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: bianchentong@163.com
Southeast University,
Nanjing 211189, China
e-mail: bianchentong@163.com
Search for other works by this author on:
Liwei Xu
School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: eagil123@hotmail.com
Southeast University,
Nanjing 211189, China
e-mail: eagil123@hotmail.com
Weichao Zhuang
School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: wezhuang@seu.edu.cn
Southeast University,
Nanjing 211189, China
e-mail: wezhuang@seu.edu.cn
Guodong Yin
Guangmin Li
Chentong Bian
School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: bianchentong@163.com
Southeast University,
Nanjing 211189, China
e-mail: bianchentong@163.com
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received May 24, 2018; final manuscript received November 13, 2018; published online December 19, 2018. Assoc. Editor: Jongeun Choi.
J. Dyn. Sys., Meas., Control. Apr 2019, 141(4): 044503 (9 pages)
Published Online: December 19, 2018
Article history
Received:
May 24, 2018
Revised:
November 13, 2018
Citation
Xu, L., Zhuang, W., Yin, G., Li, G., and Bian, C. (December 19, 2018). "Simultaneous Longitudinal and Lateral Control of Vehicle Platoon Subject to Stochastic Communication Delays." ASME. J. Dyn. Sys., Meas., Control. April 2019; 141(4): 044503. https://doi.org/10.1115/1.4042031
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