کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699038 1460718 2014 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Experimental verification of robustness in a semi-autonomous heavy vehicle platoon
ترجمه فارسی عنوان
تأیید تجربی نیرومندی در یک سیستم نیمه مستقل خودروی سنگین
کلمات کلیدی
گرداننده خودرو، ثبات رشته، عدد صعود به قله تاخیر ارتباط مدل سازی عدم اطمینان، عملکرد مقاوم
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی


• A method is proposed for computing spacing error bounds of vehicle platoons.
• Platoon heterogeneity, communication delays and model uncertainties are examined.
• The concept allows a data-based verification of platoon performance.
• String stability properties can be deduced for a wide class of control schemes.

Novel numerical methods for analyzing robust peak-to-peak performance of heterogeneous vehicle platoons are presented. The goal is to compute worst-case spacing error peaks in terms of platoon heterogeneity, communication delays, disturbances and uncertainties in the vehicle dynamics. First, a convex set of parametric linear vehicle models is employed to analyze the effect of platoon heterogeneity. Then, a data-driven uncertainty modeling algorithm is developed that computes the least conservative spacing error bound for a given disturbance model class. The methods are demonstrated on three platoon controllers. One of them is a new constant spacing controller receiving control information from both the platoon leader and the immediate preceding vehicle.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 28, July 2014, Pages 13–25
نویسندگان
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