Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/143834
Title: Barrier-function-based distributed adaptive control of nonlinear CAVs with parametric uncertainty and full-state constraint
Authors: Zhu, Yang
Zhu, Feng
Keywords: Engineering::Civil engineering
Issue Date: 2019
Source: Zhu, Y., & Zhu, F. (2019). Barrier-function-based distributed adaptive control of nonlinear CAVs with parametric uncertainty and full-state constraint. Transportation Research Part C: Emerging Technologies, 104, 249–264. doi:10.1016/j.trc.2019.05.002
Journal: Transportation Research Part C: Emerging Technologies
Abstract: The platoon control of connected and automated vehicles (CAVs) is an emerging problem and has become a hot topic in transportation research. Most of the existing results are based on second-order or third-order linear vehicular dynamics. They ignore either the actuator internal kinetics or vehicular inherent nonlinearity, and the linearization requires a complete priori knowledge of plant parameters and may not be easy to implement in practice. In order to overcome these shortcomings, this paper concentrates on third-order nonlinear vehicular plants with parametric uncertainty and full-state constraint. Different from the popular linear-matrix-inequality (LMI) robust control and model predictive control (MPC), this paper proposes a barrier-function-based distributed adaptive backstepping control scheme. The third-order nonlinear vehicle models are considered, uncertain parameters are identified on-line, full-state constraints are not violated, and the tracking control objectives are established. Simulation studies are carried out to verify the effectiveness of the developed control design.
URI: https://hdl.handle.net/10356/143834
ISSN: 0968-090X
DOI: 10.1016/j.trc.2019.05.002
Schools: School of Civil and Environmental Engineering 
Rights: © 2019 Elsevier Ltd. All rights reserved. This paper was published in Transportation Research Part C: Emerging Technologies and is made available with permission of Elsevier Ltd.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:CEE Journal Articles

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