CASIA OpenIR  > 智能化团队
Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics
Zhu, Yuanheng1,2; Zhao, Dongbin1,2; Zhong, Zhiguang3
Source PublicationIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN1063-6536
2019-07-01
Volume27Issue:4Pages:1772-1779
Corresponding AuthorZhao, Dongbin(dongbin.zhao@ia.ac.cn)
AbstractCooperative 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.
KeywordAdaptive optimal control cooperative adaptive cruise control (CACC) heterogeneous platoon string stability sum-of-squares polynomial
DOI10.1109/TCST.2018.2811376
WOS KeywordCRUISE CONTROL ; DESIGN
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61603382] ; National Natural Science Foundation of China[61573353] ; National Natural Science Foundation of China[61533017] ; National Natural Science Foundation of China[LY15F030008]
Funding OrganizationNational Natural Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000471717100035
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26034
Collection智能化团队
Corresponding AuthorZhao, Dongbin
Affiliation1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Ningbo Univ, Coll Sci & Technol, Ningbo 315212, Zhejiang, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhu, Yuanheng,Zhao, Dongbin,Zhong, Zhiguang. Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2019,27(4):1772-1779.
APA Zhu, Yuanheng,Zhao, Dongbin,&Zhong, Zhiguang.(2019).Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,27(4),1772-1779.
MLA Zhu, Yuanheng,et al."Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 27.4(2019):1772-1779.
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