| Title |
Design of a Robust Adaptive Control Scheme for Longitudinal Motion of Vehicles |
| Authors |
김동헌(Kim, Dong-Hun) ; 양해원(Yang, Hai-Won) |
| Keywords |
직선주행 제어 ; 적응칙 ; 관측자 ; 강인적응 제어기 ; |
| Abstract |
A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the dynamics of each vehicle within the platoon. The external disturbances such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicles's acceleration. The proposed controller guarantees to recover platoon stability in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. It is shown that the proposed observer is exponentially stable, and the at the robust adaptive controller is stable. The simulation results demonstrate excellent tracking even in the presence of disturbances. |