Nonlinear multi-layer consensus seeking of vehicular platoons

Mauro Fusco, Elham Semsar-Kazerooni, Jeroen C. Zegers, Jeroen Ploeg

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

Uittreksel

In this paper, non-linear estimators and feed-forward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to study different methods to compute this information. In this work, sliding mode algorithms are employed to generate the desired trajectories and also to compute the feed-forward control input of each vehicle. In this way, a velocity-dependent inter-vehicle spacing policy can be realized without using derivatives of the vehicular acceleration to compute the feed-forward input. Furthermore, a full-state feedback implementation scheme is discussed. The vehicles are modeled with heterogeneous linear longitudinal dynamics. The proposed algorithms are validated through experiments on automated cars.

Originele taal-2Engels
Titel5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's122-127
Aantal pagina's6
ISBN van elektronische versie978-1-5090-6484-7
DOI's
StatusGepubliceerd - 8 aug 2017
Evenement5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) - Hotel Royal Continental, Napels, Italië
Duur: 26 jun 201727 jun 2017
Congresnummer: 5
http://www.mt-its2017.org/

Congres

Congres5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Verkorte titelMT-ITS2017
LandItalië
StadNapels
Periode26/06/1727/06/17
Internet adres

Vingerafdruk

Feedforward
Multilayer
Trajectories
Trajectory
Estimator
Feedforward Control
Feedforward control
Sliding Mode
State feedback
State Feedback
Spacing
Control Problem
experiment
Railroad cars
Derivatives
Feedback
Derivative
Dependent
Experiment
Experiments

Citeer dit

Fusco, M., Semsar-Kazerooni, E., Zegers, J. C., & Ploeg, J. (2017). Nonlinear multi-layer consensus seeking of vehicular platoons. In 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings (blz. 122-127). [8005651] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MTITS.2017.8005651
Fusco, Mauro ; Semsar-Kazerooni, Elham ; Zegers, Jeroen C. ; Ploeg, Jeroen. / Nonlinear multi-layer consensus seeking of vehicular platoons. 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings. Piscataway : Institute of Electrical and Electronics Engineers, 2017. blz. 122-127
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Fusco, M, Semsar-Kazerooni, E, Zegers, JC & Ploeg, J 2017, Nonlinear multi-layer consensus seeking of vehicular platoons. in 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings., 8005651, Institute of Electrical and Electronics Engineers, Piscataway, blz. 122-127, 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) , Napels, Italië, 26/06/17. https://doi.org/10.1109/MTITS.2017.8005651

Nonlinear multi-layer consensus seeking of vehicular platoons. / Fusco, Mauro; Semsar-Kazerooni, Elham; Zegers, Jeroen C.; Ploeg, Jeroen.

5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings. Piscataway : Institute of Electrical and Electronics Engineers, 2017. blz. 122-127 8005651.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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Fusco M, Semsar-Kazerooni E, Zegers JC, Ploeg J. Nonlinear multi-layer consensus seeking of vehicular platoons. In 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings. Piscataway: Institute of Electrical and Electronics Engineers. 2017. blz. 122-127. 8005651 https://doi.org/10.1109/MTITS.2017.8005651