NDLI: Adaptive non-linear coordinated optimal dynamic platoon control of connected autonomous distributed electric vehicles on curved roads

Content Provider	IET Digital Library
Author	Guo, Jinghua Jingyao, Wang Li, Keqiang Luo, Yugong
Abstract	A novel adaptive coordinated platoon control of connected autonomous distributed electric vehicles (CADEVs) on curved roads is proposed to increase traffic security. The nonlinear vehicle dynamic model that can precisely reflect the driving behaviours of CADEVs on curved roads is deduced by the Newton–Euler method. Owing to the fact that CADEVs have the strong coupled, uncertain non-linear and over-actuated features, a novel disturbance observer-based adaptive coordinated optimal dynamic platoon control strategy is presented to supervise the lateral and longitudinal coupled motions of CADEVs on curved roads, in which the switching gains of backstepping sliding mode control term are precisely adjusted by the neural-network technique, and the uniform ultimate boundedness of closed-loop high-level control system is guaranteed through the Lyapunov stability theory. Then, a sequential quadratic programming (SQP) tire distributor is the basic component of the low-level control law, which can realise the dynamic control distribution of over-actuated tire actuators of CADEVs. Finally, the results manifest the effectiveness of the proposed adaptive coordinated platoon control strategy.
Starting Page	1626
Ending Page	1637
Page Count	12
ISSN	1751956X
Volume Number	14
e-ISSN	17519578
Issue Number	Issue 12, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/14/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2020.0112
Journal	IET Intelligent Transport Systems
Publisher Date	2020-09-15
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuating And Final Control Device Actuators Adaptive Control Adaptive Nonlinear Coordinated Optimal Dynamic Platoon Control Backstepping Sliding Mode Control Term CADEVs Closed Loop System Closed-loop High-level Control System Connected Autonomous Distributed Electric Vehicle Control Nonlinearities Curved Roads Disturbance Observer-based Adaptive Coordinated Optimal Dynamic Platoon Control Strategy Dynamic Control Distribution Electric Vehicle Lateral Coupled Motions Longitudinal Coupled Motions Lyapunov Method Lyapunov Stability Theorem Mobile Robots Modelling And Identification Motion Control Multivariable Control System Neural-network Technique Neurocontrollers Nonlinear Control System Nonlinear Vehicle Dynamic Model Observers Optimal Control Optimisation Technique Quadratic Programming Road Traffic System Control Road Vehicle Self Adjusting Control System Sequential Quadratic Programming Simulation Spatial Variables Control Stability Stability in Control Theory Tire Actuators Transportation Tyres Uncertain System Variable Structure System Vehicle Dynamics
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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