Showing 1-25 of 103 resultsfor "Index Terms":platoon formation and control
"Index Terms":platoon formation and control
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Fixed-Time Predefined Performance Platoon Formation Control of Automated Vehicles with Uncertain Disturbances
2023 IEEE 8th International Conference on Intelligent Transportation Engineering (ICITE)
Year: 2023 | Conference Paper |
This paper addresses the fixed-time predefined performance platoon formation control problem of automated vehicles with the consideration of uncertain disturbances. First, a general platoon formation control framework is developed. Then, the transformed errors are designed to make sure the predefined performance requirement is satisfied. Furthermore, the radial basis function neural network is int...Show More
A Multi-Vehicle Self-Organized Cooperative Control Strategy for Platoon Formation in Connected Environment
Mengqi Zhang;Chunyan Wang;Wanzhong Zhao;Jinqiang Liu;Ziyu Zhang
Aiming at the problem of low merging efficiency, poor platoon stability, and high collision risk when multiple connected and automated vehicles merge into the same target platoon, we propose a multi-vehicle self-organized cooperative control strategy for platoon formation, which includes vehicle self-organizing formation control and platoon cooperative merging control. The vehicle self-organizing ...Show More
RBFNN-Based Event-Triggered Data-Driven Formation Control for a Connected Heterogeneous Vehicle Platoon
2024 IEEE 13th Data Driven Control and Learning Systems Conference (DDCLS)
Year: 2024 | Conference Paper |
This paper presents a novel distributed data-driven control scheme for the longitudinal formation control of a connected heterogeneous vehicle (CHV) platoon. Initially, an event-triggered mechanism is devised to alleviate the computational burden on the distributed controller. Subsequently, the future pseudo-gradient (PG) vector is predicted using the radial basis function neural network (RBFNN) m...Show More
Robust Formation Control of Bidirectional Vehicular Platoons with Prescribed Tracking Performance*
2023 38th Youth Academic Annual Conference of Chinese Association of Automation (YAC)
Year: 2023 | Conference Paper |
This paper investigates the longitudinal robust formation control problem of bidirectional vehicular platoons with prescribed tracking performance in the presence of time-varying parametric uncertainties. First, the collision avoidance and high traffic throughput requirements are explicitly expressed as pre-scribed tracking performance defined by bilateral inequality constraints bounded by decayin...Show More
Observer-Based Platoon Formation Control With Prescribed Performance Guarantees for Unmanned Surface Vehicles in Presence of Nonsmooth Input Characteristics
Wei Wang;Xiaoyang Gao;Tieshan Li;Yang Wang;C. L. Philip Chen
This brief focuses on the platoon formation control for a fleet of unmanned surface vehicles (USVs) with uncertain kinetics, unmeasured velocities, input saturation and dead zone to ensure collision avoidance (CA) and connectivity maintenance (CM). The prescribed performance techniques are implemented to ensure that the formation errors between each USV and its leader are constrained within predef...Show More
Adaptive Fuzzy Fault-Tolerant Formation Control For Third-Order Heterogeneous Vehicle Platoon System With Intermittent Actuator Faults
2024 14th International Conference on Information Science and Technology (ICIST)
Year: 2024 | Conference Paper |
This paper investigates the problem of prescriptive performance tolerant control of a heterogeneous vehicle platoon with intermittent actuator failures. A finite time prescribed performance function is then suggested, which makes use of the prescribed performance control (PPC) technique. This can prevent collisions and maintain connectivity between nearby ve-hicles while guaranteeing that the plat...Show More
This paper considers the problem of formation control design for a large platoon of identical vehicles, where the dynamics of each vehicle is described by a fully actuated double integrator. The main objective of this paper is to design a formation controller for the vehicular platoon under a nearest-neighboring communication topology maintaining a desired formation. Partial differential equations...Show More
Platoon Formation Control of USVs With Output Tracking Error Constraints
2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)
Year: 2018 | Conference Paper |
Cited by: Papers (2)
In this paper, we investigate the platoon formation control problem for a group of unmanned surface vehicles exposed to external time-varying disturbances with output tracking error constraints, where the topology of the communication network is described by a spanning directed tree. To guarantee that the follower could preserve within the communication range between the follower and its predecess...Show More
Distributed Data-Driven Event-Triggered Fault-Tolerant Control for a Connected Heterogeneous Vehicle Platoon With Sensor Faults
This paper investigates a distributed data-driven event-triggered fault-tolerant control for a connected heterogeneous vehicle platoon with sensor faults under the vehicle-to-vehicle (V2V) communication network. First, a sensor fault diagnosis scheme based on the high-gain observer is designed to detect, estimate and compensate for the fault signal. Then, the measurement signals with sensor faults...Show More
Platoon Control of Connected Vehicles via Safe Reinforcement Learning Based on Lyapunov Based Soft Actor Critic Algorithm
2024 36th Chinese Control and Decision Conference (CCDC)
Year: 2024 | Conference Paper |
This paper addresses the platoon control problem of connected vehicular systems subject to safety constraints. A constrained Markov Decision Process model is established. A novel safe-reinforcement-learning control method based on the Lyapunov-based Soft Actor-Critic (LSAC) algorithm is developed, where the LSAC algorithm is designed to maximize the reward while minimizing the safety cost, ensurin...Show More
Distributed receding horizon control of nonlinear vehicle formations with constraints
2016 Chinese Control and Decision Conference (CCDC)
Year: 2016 | Conference Paper |
Cited by: Papers (1)
This paper investigates the distributed receding horizon control (RHC) problem of a vehicle platoon with nonlinear dynamics and subject to system constraints, where each vehicle can communicate with its immediate predecessor and follower. A novel optimization problem and detailed distributed RHC algorithm are designed in order to keep a constant distance between any two adjoining vehicles, and fur...Show More
Mixed HDVs and CAVs Platooning Formation Problem Using Distributed Model Predictive Control Structure
2024 10th International Conference on Control, Instrumentation and Automation (ICCIA)
Year: 2024 | Conference Paper |
This paper addresses the platooning problem for mixed Connected and Automated Vehicles (CAVs) and Human Driven Vehicles (HDVs). The vehicles are considered as agents of a Multi-Agent System (MAS) and the platooning problem is reformulated as a formation problem. Various scenarios for platooning are assumed and a Distributed Model Predictive Control (DMPC) structure is proposed to solve the problem...Show More
Multi-Objective Tracking Platoon Control for Cooperative Adaptive Cruise Control Based on Online Optimal Scheduling
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2022 | Conference Paper |
Many applications of cooperative adaptive cruise control (CACC) were proposed to improve vehicle safety and road traffic efficiency. Vehicle safety, ride comfort, and formation control all are essential control targets of the CACC system. This paper designed a multi-objective tracking platoon controller for CACC based on online optimal scheduling. According to the designed feedback controller and ...Show More
Distributed Model Predictive Control for Vehicle Platooning with Intermittent Communication
2024 36th Chinese Control and Decision Conference (CCDC)
Year: 2024 | Conference Paper |
The problem of distributed cooperative control of vehicle platoon is addressed, subject to irregular time-varying delays and possible information losses in the communication links among the vehicles. Our control objective is to drive the vehicles to reach a line formation with the desired spacing while moving forward according to the platoon leader’s velocity. Firstly, we propose an intermittent c...Show More
Collaborative Control for Multi Vehicle Platoons Using Longitudinal and Lateral Decoupling Method
2023 IEEE International Conference on Unmanned Systems (ICUS)
Year: 2023 | Conference Paper |
This paper studies the formation control of autonomous vehicle with vehicle to vehicle (V2V) communication connection. Firstly, this paper introduces the dynamic model of a vehicle and the cooperation mechanism. Then, a leader-follower driving pattern based on coordinated control protocol is designed. Particularly, a longitudinal and lateral controller is designed for the vehicle platoon, such tha...Show More
Maximum Platoon Size for Platoon-Based Cooperative Signal-Free Control at Intersections
Maximum platoon size (MPS) playing a crucial role in the configuration of connected and automated vehicle (CAV) platoons can significantly affect the traffic operation performance at intersections. The study addresses the MPS for platoon-based cooperative signal-free intersection control (PCSIC) problem considering the platoon formation process of the CAVs, which manage the CAVs to form the CAV pl...Show More
Observer-Based Finite-Time Control for Vehicular Platoon with Time Varying Disturbances
2023 42nd Chinese Control Conference (CCC)
Year: 2023 | Conference Paper |
A connected vehicle platoon under no communication between vehicles has been investigated in this paper. The control objective is to stabilize the vehicle platoon system within a finite time, ensuring that all vehicles travel at the same speed while maintaining safety spacing. An observer is proposed to estimate the velocity information of the preceding vehicle based on the position information ob...Show More
Vision-Based Fixed-Time Platoon Formation Control of Multi-Agent Systems
2020 39th Chinese Control Conference (CCC)
Year: 2020 | Conference Paper |
This paper presents an adaptive fixed-time formation control of nonholonomic mobile robots subject to limited sensing capability. A fixed-time cooperative control method is considered since it can provide the stability of the closed-loop system and guarantee convergence time of system trajectories independently on initial conditions. In addition, performance constraints are introduced in control s...Show More
Multi-lane Vehicular Platoons Merging Strategy Based on Distributed Model Predictive Control
2022 41st Chinese Control Conference (CCC)
Year: 2022 | Conference Paper |
In this paper, the scenarios of merging multi-lane vehicular platoons into a single lane are studied. Firstly, the bicycle model is established as vehicle dynamics and the merging process is parameterized as the transitioning from any initial formation to a single-lane formation. Secondly, the vehicles are numbered using a distance-related method and a target platoon is defined to describe their d...Show More
Switching control for robust autonomous robot and vehicle platoon formation maintenance
2007 Mediterranean Conference on Control & Automation
Year: 2007 | Conference Paper |
Cited by: Papers (7)
In this paper, we analyze the problem of acquiring and maintaining desired inter-agent distances for nonhierarchical autonomous multi-agent platoons (1-dimensional formations), where the agents can be autonomous robots or vehicles, using only agent-wise relative position measurements. In our analysis, we consider the existence of measurement noises, which may cause the failure of controllers ignor...Show More
Finite-Time-Prescribed Performance-Based Platoon Formation Control for Unmanned Surface Vehicles Using Event-Triggered Extended State Observer
This article investigates the finite-time-prescribed performance-based (FTPP) platoon formation control problem of unmanned surface vehicles (USVs) with connectivity preservation and collision avoidance. Each vehicle is subject to unmeasured velocities, model uncertainties, external disturbances and actuator input delay. By introducing a finite-time performance function (FTPF), the desired transie...Show More
Adaptive Cooperative Platoon Control of Underactuated Autonomous Surface Vehicles
Chuancong Tang;Hongwei Sun;Hai-Tao Zhang;Siqing Sun;Qing-Long Han
IEEE Transactions on Industrial Electronics
Year: 2025 | Early Access Article |
This article addresses the flexible adaptive cooperative formation platoon control (ACFPC) of a fleet of underactuated autonomous surface vehicles (ASVs) suffered by environmental current and wind disturbances. A nonlinear vessel following strategy is constructed considering the inertia times of the ASVs through the utilization of a generalized look-ahead method, allowing for a safer flexible desi...Show More
Neighborhood Controller-Local Observer in Adaptive Control Approach for Heterogeneous Vehicle Platoon Formation
2023 International Seminar on Intelligent Technology and Its Applications (ISITIA)
Year: 2023 | Conference Paper |
This paper studies a distributed model reference adaptive control which designed based on neighborhood controller-local observer. The controller will be applied in each follower which has limited-output information and uncertainty. The proposed control composes of four main parts, namely local observer, reference model, adaptive controller and neighborhood controller. Local observer is used to obt...Show More
Distributed Data-Driven Control for a Connected Autonomous Vehicle Platoon Subjected to False Data Injection Attacks
In this paper, we consider the need for deployment in the long-distance safe longitudinal formation control task when the connected autonomous vehicle (CAV) platoon is subjected to malicious cyber attacks. To ensure the safe, orderly, stable and efficient driving performance of the vehicle platoon, a novel distributed data-driven control (DDDC) approach for a homogeneous connected autonomous vehic...Show More
Behavioral Assessment of an Optimized Multi-Vehicle Platoon Formation Control for Efficient Fuel Consumption
Mohamed Maged;Dalia M. Mahfouz;Omar M. Shehata;Elsayed I. Morgan
2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)
Year: 2020 | Conference Paper |
Cited by: Papers (4)
Over the past few decades, climate change, air pollution and road safety have been classified as vital problems affecting the globe adversely in terms of transportation. To solve these problems, Intelligent Transportation Systems (ITS) are investigated. One of the important ITS applications is vehicle platooning, which is contemplated to enhance road organization and reduce the overall fuel consum...Show More
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