Guaranteed cost adaptive control of nonlinear platoons with actuator delay / Wei Yue in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Titre : Guaranteed cost adaptive control of nonlinear platoons with actuator delay Type de document : texte imprimé Auteurs : Wei Yue, Auteur ; Ge Guo, Auteur Année de publication : 2012 Article en page(s) : 11 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Adaptive nonlinear control Guaranteed cost Time-varying nonlinearity Actuator delay String stability Index. décimale : 629.8 Résumé : This paper presents a guaranteed cost adaptive control (GCAC) algorithm for vehicular platoons with nonlinear dynamics (i.e., combined nonlinearities of manifold dynamics, aerodynamic drag, unmodeled dynamics, etc.) and actuator delay (i.e., fueling and braking delay). First of all, a nonlinear mathematic model of the platoon's longitudinal movement is established, which is shown to be a great improvement of the existing models. The controller is designed by splitting the new model into a linear part and a nonlinear one. In particular, we use a radial basis function neural network (RBFNN) to compensate for the nonlinear part by making precise estimation of it based on a decentralized adaptation law. Then a guaranteed cost controller is designed based on the linear part and the adaptive neural network compensator. The obtained control scheme achieves the objective of both individual vehicle stability and platoon string stability. Simulations are given to demonstrate the effectiveness of the proposed method. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Guaranteed cost adaptive control of nonlinear platoons with actuator delay [texte imprimé] / Wei Yue, Auteur ; Ge Guo, Auteur . - 2012 . - 11 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 11 p. Mots-clés : Adaptive nonlinear control Guaranteed cost Time-varying nonlinearity Actuator delay String stability Index. décimale : 629.8 Résumé : This paper presents a guaranteed cost adaptive control (GCAC) algorithm for vehicular platoons with nonlinear dynamics (i.e., combined nonlinearities of manifold dynamics, aerodynamic drag, unmodeled dynamics, etc.) and actuator delay (i.e., fueling and braking delay). First of all, a nonlinear mathematic model of the platoon's longitudinal movement is established, which is shown to be a great improvement of the existing models. The controller is designed by splitting the new model into a linear part and a nonlinear one. In particular, we use a radial basis function neural network (RBFNN) to compensate for the nonlinear part by making precise estimation of it based on a decentralized adaptation law. Then a guaranteed cost controller is designed based on the linear part and the adaptive neural network compensator. The obtained control scheme achieves the objective of both individual vehicle stability and platoon string stability. Simulations are given to demonstrate the effectiveness of the proposed method. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

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