文章基本信息

标题：Networked Vehicle Merging by Cooperative Tracking Control
本地全文：下载
作者：Alexander Schwab ; Kai Schenk ; Jan Lunze 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：20
页码：19-24
DOI：10.1016/j.ifacol.2019.12.135
语种：English
出版社：Elsevier
摘要：This paper solves the vehicle merging problem by trajectory tracking of networked vehicles to combine multiple vehicle streams. Trajectory tracking is achieved with distributed feed-forward controllers that consider the couplings between the vehicles by modifying the local reference trajectories. For this purpose, the controllers are connected via a communication network. Different communication strategies are discussed and it is shown that the proposed tracking controllers solve the merging problem with arbitrary linear vehicle models.