Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon
Abstract Vehicle platooning can significantly reduce traffic accidents and enhance transportation safety. Among many subsystems and functionalities equipped in a vehicle platoon, cooperative braking is a safety‐critical one. Besides, as actuator faults would deteriorate vehicle safety and stability,...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-12-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12122 |
| _version_ | 1797901423821717504 |
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| author | Jinheng Han Junzhi Zhang Chengkun He Chen Lv Chao Li Xiaohui Hou Yuan Ji |
| author_facet | Jinheng Han Junzhi Zhang Chengkun He Chen Lv Chao Li Xiaohui Hou Yuan Ji |
| author_sort | Jinheng Han |
| collection | DOAJ |
| description | Abstract Vehicle platooning can significantly reduce traffic accidents and enhance transportation safety. Among many subsystems and functionalities equipped in a vehicle platoon, cooperative braking is a safety‐critical one. Besides, as actuator faults would deteriorate vehicle safety and stability, they pose a great challenge to the platoon, particularly during cooperative braking. To address the aforementioned problems, this study designed an adaptive distributed finite‐time fault‐tolerant controller for vehicle platoons under cooperative braking condition. First, based on the graph theory and vehicle longitudinal dynamics, the cooperative braking model of a platoon is constructed. Then, the models of hydraulic braking system and regenerative braking system are developed with malfunction analysis. Based on the vehicle's fault model and the representation of the platoon consensus errors, an adaptive finite‐time sliding‐mode fault tolerant controller is proposed to maintain consensus between vehicle's states during fault occurring. Further, a distributed adaptive law is presented considering the parameter estimation error and sliding‐mode surface. The finite‐time convergence property and the stability of the proposed controller are demonstrated. Numerical simulations are conducted under different conditions. The simulation results reflected by the control performance and actuators' responses validate the feasibility and effectiveness of the designed control method. |
| first_indexed | 2024-04-10T09:01:50Z |
| format | Article |
| id | doaj.art-12b45dfac0fa4d86881a5406758c2057 |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-04-10T09:01:50Z |
| publishDate | 2021-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-12b45dfac0fa4d86881a5406758c20572023-02-21T11:46:47ZengWileyIET Intelligent Transport Systems1751-956X1751-95782021-12-0115121562158110.1049/itr2.12122Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoonJinheng Han0Junzhi Zhang1Chengkun He2Chen Lv3Chao Li4Xiaohui Hou5Yuan Ji6State Key Laboratory of Automotive Safety and Energy School of Vehicle and Mobilty Tsinghua University Beijing People's Republic of ChinaState Key Laboratory of Automotive Safety and Energy School of Vehicle and Mobilty Tsinghua University Beijing People's Republic of ChinaState Key Laboratory of Automotive Safety and Energy School of Vehicle and Mobilty Tsinghua University Beijing People's Republic of ChinaSchool of Mechanical and Aerospace Engineering Technological University Nanyang SingaporeState Key Laboratory of Automotive Safety and Energy School of Vehicle and Mobilty Tsinghua University Beijing People's Republic of ChinaState Key Laboratory of Automotive Safety and Energy School of Vehicle and Mobilty Tsinghua University Beijing People's Republic of ChinaState Key Laboratory of Automotive Safety and Energy School of Vehicle and Mobilty Tsinghua University Beijing People's Republic of ChinaAbstract Vehicle platooning can significantly reduce traffic accidents and enhance transportation safety. Among many subsystems and functionalities equipped in a vehicle platoon, cooperative braking is a safety‐critical one. Besides, as actuator faults would deteriorate vehicle safety and stability, they pose a great challenge to the platoon, particularly during cooperative braking. To address the aforementioned problems, this study designed an adaptive distributed finite‐time fault‐tolerant controller for vehicle platoons under cooperative braking condition. First, based on the graph theory and vehicle longitudinal dynamics, the cooperative braking model of a platoon is constructed. Then, the models of hydraulic braking system and regenerative braking system are developed with malfunction analysis. Based on the vehicle's fault model and the representation of the platoon consensus errors, an adaptive finite‐time sliding‐mode fault tolerant controller is proposed to maintain consensus between vehicle's states during fault occurring. Further, a distributed adaptive law is presented considering the parameter estimation error and sliding‐mode surface. The finite‐time convergence property and the stability of the proposed controller are demonstrated. Numerical simulations are conducted under different conditions. The simulation results reflected by the control performance and actuators' responses validate the feasibility and effectiveness of the designed control method.https://doi.org/10.1049/itr2.12122Road‐traffic system controlCombinatorial mathematicsControl system analysis and synthesis methodsStability in control theoryMultivariable control systemsSelf‐adjusting control systems |
| spellingShingle | Jinheng Han Junzhi Zhang Chengkun He Chen Lv Chao Li Xiaohui Hou Yuan Ji Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon IET Intelligent Transport Systems Road‐traffic system control Combinatorial mathematics Control system analysis and synthesis methods Stability in control theory Multivariable control systems Self‐adjusting control systems |
| title | Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon |
| title_full | Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon |
| title_fullStr | Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon |
| title_full_unstemmed | Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon |
| title_short | Adaptive distributed finite‐time fault‐tolerant controller for cooperative braking of the vehicle platoon |
| title_sort | adaptive distributed finite time fault tolerant controller for cooperative braking of the vehicle platoon |
| topic | Road‐traffic system control Combinatorial mathematics Control system analysis and synthesis methods Stability in control theory Multivariable control systems Self‐adjusting control systems |
| url | https://doi.org/10.1049/itr2.12122 |
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