Decentralized robust control of UD and BD vehicle convoys with only partial measurement based on constant distance plan

摘要

The adaptive size-independent consensus problem of uni-directional (UD) and bidirectional (BD) decentralized large-scale vehicle convoys with uncertain dynamics has been investigated in this research work. The constant distance plan (CDP) is employed to adjust the distance between vehicles. It is assumed that only relative displacement information between adjacent vehicles is accessible (partial measurement) and other information such as relative velocity and acceleration are not provided. The stability of the convoy can be performed by the analysis of each couple of consecutive vehicles. The main objective is to design an adaptive size-independent control protocol maintaining internal and string stability based on CDP with only partial measurement. Appropriate adaptive rules are derived to estimate the uncertain dynamics by utilizing only relative displacement. It will be proved that (1) the proposed adaptive robust control law assures both internal and string stability for decentralized large-scale UD and BD convoys under the CDP and (2) control and adaptive parameters are calculated without depending on the number of following vehicles (size of convoy). Simulations and experiments demonstrate the efficiency of the presented control framework. (c) 2022 Elsevier B.V. All rights reserved.