Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics

doi:10.1109/TCST.2018.2811376

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 复杂系统智能机理与平行控制团队

	Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics
	Zhu, Yuanheng1,2 ; Zhao, Dongbin1,2 ; Zhong, Zhiguang 3
发表期刊	IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN	1063-6536
	2019-07-01
卷号	27 期号:4 页码:1772-1779
通讯作者	Zhao, Dongbin(dongbin.zhao@ia.ac.cn)
摘要	Cooperative 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.
关键词	Adaptive optimal control cooperative adaptive cruise control (CACC) heterogeneous platoon string stability sum-of-squares polynomial
DOI	10.1109/TCST.2018.2811376
关键词[WOS]	CRUISE CONTROL ; DESIGN
收录类别	SCI
语种	英语
资助项目	National 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] ; National 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]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000471717100035
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能控制
引用统计	被引频次：72[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/26034
专题	多模态人工智能系统全国重点实验室_复杂系统智能机理与平行控制团队
通讯作者	Zhao, Dongbin
作者单位	1.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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 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.