Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles
This paper deals with the planar platoon control problem of distributed-driven electric vehicles considering modeling deviations and driving disturbances. The follower vehicle is arranged to track the leader vehicle on curved roads with high tracking accuracy and driving security. A hierarchical int...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10092756/ |
| _version_ | 1827808765434396672 |
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| author | Jia-Chen Dong Qin-He Gao Zhi-Hao Liu |
| author_facet | Jia-Chen Dong Qin-He Gao Zhi-Hao Liu |
| author_sort | Jia-Chen Dong |
| collection | DOAJ |
| description | This paper deals with the planar platoon control problem of distributed-driven electric vehicles considering modeling deviations and driving disturbances. The follower vehicle is arranged to track the leader vehicle on curved roads with high tracking accuracy and driving security. A hierarchical integrated control framework is proposed based on disturbance-rejection robust model predictive control (DRRMPC) strategy and optimal control allocation (OCA) approach. The upper layer is a feedforward control layer, where a linear time-varying (LTV) model predictive controller (MPC) produces constrained predictive control towards a nominal model. The time-interval-based reference states are obtained from a “shadow following” trajectory generator through vehicle-to-vehicle (V2V) communication. In the middle layer, the feedback control consisting of a robust controller (RC) and the disturbance compensation out of an extended state observer (ESO), take effect to reconfigure the LTV vehicle model into the nominal model with an off-line calculated constraint tube. The bottom layer performs optimal control allocation among decoupled motor torques and wheel angles towards minimal tire force utilization. Hardware-in-the-Loop (HIL) experiment validates the effectiveness and practicability of the proposed platoon control strategy. |
| first_indexed | 2024-03-11T22:33:36Z |
| format | Article |
| id | doaj.art-1a6a99600fe44aefbd5768699cd549e6 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T22:33:36Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-1a6a99600fe44aefbd5768699cd549e62023-09-22T23:01:08ZengIEEEIEEE Access2169-35362023-01-011110177610178910.1109/ACCESS.2023.326474510092756Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven VehiclesJia-Chen Dong0Qin-He Gao1Zhi-Hao Liu2https://orcid.org/0000-0001-5940-0787Xi’an High-Tech Research Institute, Xi’an, ChinaXi’an High-Tech Research Institute, Xi’an, ChinaXi’an High-Tech Research Institute, Xi’an, ChinaThis paper deals with the planar platoon control problem of distributed-driven electric vehicles considering modeling deviations and driving disturbances. The follower vehicle is arranged to track the leader vehicle on curved roads with high tracking accuracy and driving security. A hierarchical integrated control framework is proposed based on disturbance-rejection robust model predictive control (DRRMPC) strategy and optimal control allocation (OCA) approach. The upper layer is a feedforward control layer, where a linear time-varying (LTV) model predictive controller (MPC) produces constrained predictive control towards a nominal model. The time-interval-based reference states are obtained from a “shadow following” trajectory generator through vehicle-to-vehicle (V2V) communication. In the middle layer, the feedback control consisting of a robust controller (RC) and the disturbance compensation out of an extended state observer (ESO), take effect to reconfigure the LTV vehicle model into the nominal model with an off-line calculated constraint tube. The bottom layer performs optimal control allocation among decoupled motor torques and wheel angles towards minimal tire force utilization. Hardware-in-the-Loop (HIL) experiment validates the effectiveness and practicability of the proposed platoon control strategy.https://ieeexplore.ieee.org/document/10092756/Platoon controldisturbance-rejectionrobust model predictive controloptimal control allocationlinear time-varying system |
| spellingShingle | Jia-Chen Dong Qin-He Gao Zhi-Hao Liu Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles IEEE Access Platoon control disturbance-rejection robust model predictive control optimal control allocation linear time-varying system |
| title | Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles |
| title_full | Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles |
| title_fullStr | Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles |
| title_full_unstemmed | Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles |
| title_short | Hierarchical Planar Platoon Control Toward Tracking Safety for Distributed-Driven Vehicles |
| title_sort | hierarchical planar platoon control toward tracking safety for distributed driven vehicles |
| topic | Platoon control disturbance-rejection robust model predictive control optimal control allocation linear time-varying system |
| url | https://ieeexplore.ieee.org/document/10092756/ |
| work_keys_str_mv | AT jiachendong hierarchicalplanarplatooncontroltowardtrackingsafetyfordistributeddrivenvehicles AT qinhegao hierarchicalplanarplatooncontroltowardtrackingsafetyfordistributeddrivenvehicles AT zhihaoliu hierarchicalplanarplatooncontroltowardtrackingsafetyfordistributeddrivenvehicles |