文章基本信息

标题：Distributed PI Control For Heterogeneous Nonlinear Platoon of Autonomous Connected Vehicles
本地全文：下载
作者：Sabato Manfredi ; Alberto Petrillo ; Stefania Santini 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15229-15234
DOI：10.1016/j.ifacol.2020.12.2307
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we present a distributed PI-based control law that guarantees the platoon formation to track leader velocity with a pre-fixed inter-vehicular distance, when vehicles are heterogeneous in both parameters and nonlinear drivetrain dynamics. Moreover, differently from most of the approaches in the literature, the proposed PI protocol intrinsically compensates for the nonlinear, heterogeneous and uncertain drivetrain dynamics without requiring any feedforward control action. We formulate sufficient conditions for closed-loop heterogeneous non-linear vehicular network stability that can be used to tune the PI control parameters. Simulation results confirm the effectiveness of the proposed PI controller in both nominal and uncertain platooning scenario.
关键词：KeywordsAutonomous Vehicle PlatoonDistributed PI ControllerHeterogeneous Nonlinear Vehicle DynamicsParameter Uncertainties