Multi-Model Adaptive Control for CACC Applications
نویسندگان
چکیده
This paper proposes a multi-model adaptive control (MMAC) algorithm based on Youla-Kucera (YK) theory to deal with heterogeneity in cooperative cruise (CACC) systems. The main idea of MMAC is choose the plant predefined set that best approximates system dynamics, applying corresponding predesigned controller. A linear plants describing different vehicle dynamics defined. Different CACC controllers are designed depending these plants. Simulation and experimental results prove how determines closest set, choosing able ensure string stability.
منابع مشابه
Automated Merging in a Cooperative Adaptive Cruise Control (CACC) System
Cooperative Adaptive Cruise Control (CACC) is a form of cruise control in which a vehicle maintains a constant headway to its preceding vehicle using radar and vehicle-to-vehicle (V2V) communication. Within the Connect & Drive1 project we have implemented and tested a prototype of such a system, with IEEE 802.11p as the enabling communication technology. In this paper we present an extension of...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملAdaptive Distributed Consensus Control for a Class of Heterogeneous and Uncertain Nonlinear Multi-Agent Systems
This paper has been devoted to the design of a distributed consensus control for a class of uncertain nonlinear multi-agent systems in the strict-feedback form. The communication between the agents has been described by a directed graph. Radial-basis function neural networks have been used for the approximation of the uncertain and heterogeneous dynamics of the followers as well as the effect o...
متن کاملA Dynamic Geocast Solution to Support Cooperative Adaptive Cruise Control (CACC) Merging
Cooperative Adaptive Cruise Control (CACC) is a type of cruise control in which the speed of a vehicle is controlled based on wireless communication between vehicles. In this paper we tackle the communication needed in case of fully automatic CACC merging at a junction. The first contribution of our paper is to show that to target the vehicles involved we need a special kind of geocast that tak...
متن کاملAdaptive Sliding Mode Control of Multi-DG, Multi-Bus Grid-Connected Microgrid
This paper proposes a new adaptive controller for the robust control of a grid-connected multi-DG microgrid (MG) with the main aim of output active power and reactive power regulation as well as busbar voltage regulation of DGs. In addition, this paper proposes a simple systematic method for the dynamic analysis including the shunt and series faults that are assumed to occur in the MG. The pres...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Intelligent Transportation Systems
سال: 2021
ISSN: ['1558-0016', '1524-9050']
DOI: https://doi.org/10.1109/tits.2020.2964320