Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach

Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highwa...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 5; H. 2; S. 976 - 983
Hauptverfasser:	Hu, Junyan, Bhowmick, Parijat, Arvin, Farshad, Lanzon, Alexander, Lennox, Barry
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Acceleration Adaptive control Automatic control Computer simulation Control stability Cooperative control Cruise control Feedback linearization Graph theory Intelligent transportation systems multi-robot systems Nonlinear dynamics robust/adaptive control of robotic systems State space models Topology Traffic congestion Traffic safety Vehicles
ISSN:	2377-3766, 2377-3766
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Abstract	Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distributed control scheme to maintain the string stability of a heterogeneous and connected vehicle platoon moving in one dimension with constant spacing policy assuming constant velocity of the lead vehicle. A feedback linearization tool is applied first to transform the nonlinear vehicle dynamics into a linear heterogeneous state-space model and then a distributed adaptive control protocol has been designed to keep equal inter-vehicular spacing between any consecutive vehicles while maintaining a desired longitudinal velocity of the entire platoon. The proposed scheme utilizes only the neighbouring state information (i.e. relative distance, velocity and acceleration) and the leader is not required to communicate with each and every one of the following vehicles directly since the interaction topology of the vehicle platoon is designed to have a spanning tree rooted at the leader. Simulation results demonstrated the effectiveness of the proposed platoon control scheme. Moreover, the practical feasibility of the scheme was validated by hardware experiments with real robots.
AbstractList	Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distributed control scheme to maintain the string stability of a heterogeneous and connected vehicle platoon moving in one dimension with constant spacing policy assuming constant velocity of the lead vehicle. A feedback linearization tool is applied first to transform the nonlinear vehicle dynamics into a linear heterogeneous state-space model and then a distributed adaptive control protocol has been designed to keep equal inter-vehicular spacing between any consecutive vehicles while maintaining a desired longitudinal velocity of the entire platoon. The proposed scheme utilizes only the neighbouring state information (i.e. relative distance, velocity and acceleration) and the leader is not required to communicate with each and every one of the following vehicles directly since the interaction topology of the vehicle platoon is designed to have a spanning tree rooted at the leader. Simulation results demonstrated the effectiveness of the proposed platoon control scheme. Moreover, the practical feasibility of the scheme was validated by hardware experiments with real robots.
Author	Hu, Junyan Lanzon, Alexander Lennox, Barry Bhowmick, Parijat Arvin, Farshad
Author_xml	– sequence: 1 givenname: Junyan orcidid: 0000-0001-7409-3885 surname: Hu fullname: Hu, Junyan email: junyan.hu@manchester.ac.uk organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester, U.K – sequence: 2 givenname: Parijat orcidid: 0000-0003-3127-8892 surname: Bhowmick fullname: Bhowmick, Parijat email: parijat.bhowmick@manchester.ac.uk organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester, U.K – sequence: 3 givenname: Farshad orcidid: 0000-0001-7950-3193 surname: Arvin fullname: Arvin, Farshad email: farshad.arvin@manchester.ac.uk organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester, U.K – sequence: 4 givenname: Alexander orcidid: 0000-0003-3424-8808 surname: Lanzon fullname: Lanzon, Alexander email: alexander.lanzon@manchester.ac.uk organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester, U.K – sequence: 5 givenname: Barry orcidid: 0000-0003-0905-8324 surname: Lennox fullname: Lennox, Barry email: barry.lennox@manchester.ac.uk organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester, U.K
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SubjectTerms	Acceleration Adaptive control Automatic control Computer simulation Control stability Cooperative control Cruise control Feedback linearization Graph theory Intelligent transportation systems multi-robot systems Nonlinear dynamics robust/adaptive control of robotic systems State space models Topology Traffic congestion Traffic safety Vehicles
Title	Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach
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