Adaptive coordinated leader–follower control of autonomous over-actuated electric vehicles

Abstract

In this paper, the leader–follower formation control problem of autonomous over-actuated electric vehicles on a highway is studied. As the autonomous over-actuated electric vehicles have the characteristics of non-linearities, external disturbances and strong coupling, a novel coordinated three-level control system is constructed to supervise the longitudinal and lateral motions of autonomous electric vehicles. Firstly, an adaptive terminal sliding high-level control algorithm is designed to compute a vector of total forces and torque of vehicles, and the stability of the high-level control system is proven via Lyapunov analysis where uniform ultimate boundedness of the closed-loop signals is guaranteed. Then, a pseudo-inverse control allocation algorithm, which can achieve fault tolerance and reconfiguration of the redundant tyre actuation system, is presented to generate the desired longitudinal and lateral tyre forces. Then, a separate low-level controller consisting of an inverse tyre model and two inner loops for each wheel is designed to achieve its desired forces. Finally, simulation results demonstrate that the proposed control system not only enhance the tracking performance, but also improve the stability and riding comfort of autonomous over-actuated electric vehicles in a platoon.

Keywords

Adaptive terminal sliding control allocation coordinated control coupling over-actuated electric vehicles

Get full access to this article

View all access options for this article.

References

Ahmadi

Sedigh

Kabganian

(2009) Adaptive vehicle lateral-plane motion control using optimal tire friction forces with saturation limits consideration. IEEE Transactions on Vehicular Technology 58(8): 4098–4107.

Assad

Ather

Karl

et al . (2014) Guaranteeing safety for heavy duty vehicle platooning: safe set computations and experimental evaluations. Control Engineering Practice 24(3): 33–41.

Brembeck

Ritzer

(2012) Energy optimal control of an over actuated robotic electric vehicle using enhanced control allocation approaches. 2012 IEEE Intelligent Vehicles Symposium, 3–7 June pp. 322–327.

Casavola

Garone

(2010) Fault-tolerant adaptive control allocation schemes for over-actuated systems. International Journal of Robust and Nonlinear Control 20(17): 1958–1980.

Castro

Tanelli

Rui

(2014) Design of safety-oriented control allocation strategies for over-actuated electric vehicles. Vehicle System Dynamics 52(8): 1017–1046.

Feng

(2010) Adaptive intelligent backstepping longitudinal control of vehicle platoons using output recurrent cerebellar model articulation controller. Expert Systems with Applications 37(3): 2016–2027.

Guo

Yue

(2011) Hierarchical platoon control with heterogeneous information feedback. IET Control Theory and Applications 5(15): 1766–1781.

Guo

et al . (2013) An adaptive fuzzy sliding lateral control strategy of automated vehicles based on vision navigation. Vehicle System Dynamics 51(10): 1502–1517.

Wong

Rad

(2007) Robust fuzzy tracking control for robotic manipulators. Simulation Modeling Practice and Theory 15(7): 801–816.

10.

Guo

et al . (2013) A robust longitudinal sliding-mode controller design for autonomous ground vehicle based on fuzzy logic. International Journal of Vehicle Autonomous Systems 11(4): 368–383.

11.

Johansen

Fossen

(2013) Control allocation – a survey. Automatica 49(5): 1807–1103.

12.

Khalid

Ghani

Giri

et al . (2014) Nonlinear cascade strategy for longitudinal control of electric vehicle. ASME Journal of Dynamic Systems, Measurement and Control 136(1): 2877–2883.

13.

Kumarawadu

Lee

(2006) Neuroadaptive combined lateral and longitudinal control of highway using RBF networks. IEEE Transactions on Intelligent Transportation Systems 7(4): 500–511.

14.

Liu

Gao

et al . (2014) Autonomous coordinated control of a platoon of vehicles with multiple disturbances. IET Control Theory and Application 88(18): 2325–2335.

15.

Liu

Guan

Shen

et al . (2012). Consensus of multi-agent networks with aperiodic sampled communication via impulsive algorithms using position-only measurements. IEEE Transactions on Automatic Control 57(10): 2639–2643.

16.

Luca

(2009) Dynamic allocation for input redundant control systems. Automatica 45(6): 1431–1438.

17.

Nekoukar

Erfanian

(2011) Adaptive fuzzy terminal sliding mode control for a class of MIMO uncertain nonlinear systems. Fuzzy Sets and Systems 179(1): 34–49.

18.

Noroozi

Roopaei

Zolghadri

(2009) Adaptive fuzzy sliding mode control scheme for uncertain systems. Communications in Nonlinear Science & Numerical Simulation 14(11): 3978–3992.

19.

Pan

(2009) Decentralized robust control approach for coordinated maneuvering of vehicles in platoons. IEEE Transactions on Intelligent Transportation Systems 10(2): 346–354.

20.

Perez

Milanes

Onieva

(2011). Cascade architecture for lateral control in autonomous vehicles. IEEE Transactions on Intelligent Transportation Systems 12(1): 73–82.

21.

Ploeg

Van

Nijmeijer (2014) L_p string stability of cascaded systems: application to vehicle platooning. IEEE Transactions on Control Systems Technology 22(2): 786–793.

22.

Rachid

Rodolfo

Michel

(2014a) Combined longitudinal and lateral control for automated vehicle guidance. Vehicle System Dynamics 52(2): 261–279.

23.

Rachid

Rodolfo

Michel

(2014b) Nonlinear cascade strategy for longitudinal control in automated vehicle guidance. Control Engineering Practice 29(6): 225–234.

24.

Rajamani

(2012) Vehicle Dynamics and Control. 2nd ed.Berlin: Springer.

25.

Ricardo

Mara

Rui

et al . (2014) Design of safety-oriented control allocation strategies for over-actuated electric vehicles. Vehicle System Dynamics 52(8): 1017–1046.

26.

Song

Zong

Tomizuka

(2015) Combined longitudinal and lateral control for automated lane guidance of full drive-by-wire vehicles. SAE International Journal of Passenger Cars 8(2): 419–424.

27.

Wang

Longoria

(2009) Coordinated and reconfigurable vehicle dynamics control. IEEE Transactions on Control Systems Technology 17(3): 723–732.

28.

Zhou

Saigal

Dion

et al . (2012) Vehicle platoon control in high-latency wireless communications environments. Transportation Research Record Journal of the Transportation Research Board 2324(10): 81–90.