CONNECTED VEHICULAR SYSTEMSA framework for the analysis and design of connected vehicle systems, featuring numerous simulations, experimental studies, and problem-solving approaches
Connected Vehicular Systemssynthesizes the research advances of the past decade to provide readers with practical tools to analyze and design all aspects of connected autonomous vehicle systems, addressing a series of major issues and challenges in autonomous connected vehicles and transportation systems, such as sensing, communication, control design, and command actuating. The text provides direct methodologies for solving important problems such as speed planning, cooperative adaptive cruise control, platooning, and string traffic flow stability, with numerous simulations and experimental studies for implementing algorithms and parameter settings.
To help the reader better understand and implement the concepts discussed, the text includes a variety of worked examples, including those related to car following, vehicular platooning problem, string stability, cooperative adaptive cruise control, and vehicular communications.
Written by two highly qualified academics with significant experience in the field,Connected Vehicular Systemsincludes information on:Varying communication ranges, interruptions, and topologies, along with controls for event-triggered communicationFault-tolerant and adaptive fault-tolerant controls with actuator saturation, input quantization, and dead-zone nonlinearityPrescribed performance concurrent controls, adaptive sliding mode controls, and speed planning for various scenarios, such as to reduce inter-vehicle spacingControl paradigms aimed at relaxing communications constraints and optimizing system performanceDetailed algorithms and parameter settings that readers can implement in their own work to drive progress in the field
Connected Vehicular Systemsis an essential resource on the subject for mechanical and automotive engineers and researchers involved with the design and development of self-driving cars and intelligent transportation systems, along with graduate students in courses that cover vehicle controls within the context of control systems or vehicular systems engineering.
Preface ix
Acknowledgments xiii
Part I Vehicular Platoon Communication and Control 1
1 Control with Varying Communication Range 3
1.1 Introduction 3
1.2 Problem Formulation 5
1.3 Switching Control of Connected Vehicles 9
1.4 Simulations and Experiments 16
1.5 Conclusions and Future Work 23
References 24
2 Control Subject to Communication Interruptions 26
2.1 Introduction 26
2.2 Problem Formulation 27
2.3 Mixed CACC-ACC Control 28
2.4 Finite-Time Sliding-Mode Control 32
2.5 Numerical Simulations 34
2.6 Conclusions and Future Work 39
References 41
3 Control and Communication Topology Assignment 42
3.1 Introduction 42
3.2 Problem Statement 44
3.3 Communication Topology and Control Co-Design 48
3.4 Simulation Studies 57
3.5 Conclusions and Future Work 70
References 70
4 Control with Communication Delay and Switching Topologies 72
4.1 Introduction 72
4.2 Problem Formulation 73
4.3 Stability Analysis 77
4.4 Controller Synthesis 82
4.5 Simulation Studies 86
4.6 Conclusions and Future Work 95
References 96
5 Control with Event-Triggered Communication 97
5.1 Introduction 97
5.2 Problem Formulation 99
5.3 Event-Triggered Communication and Platoon Control 104
5.4 Simulation Study 107
5.5 Conclusions and Future Work 119
References 120
Part II Performance Guarantee Under Actuator Limitation 121
6 Adaptive Fault-Tolerant Control with Actuator Saturation 123
6.1 Introduction 123
6.2 System Modeling and Problem Formulation 124
6.3 Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 127
6.4 Controller Design and Stability and Analysis 128
6.5 Simulation Results 135
6.6 Conclusions and Future Work 139
References 142
7 Fault-Tolerant Control with Input Quantization and Dead Zone 143
7.1 Introduction 143
7.2 System Modeling and Problem Formulation 144
7.3 Improved Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 148
7.4 Controller Design and Stability Analysis 149
7.5 Simulation Results 155
7.6 Conclusions and Future Work 157
References 163
8 Prescribed Performance Concurrent Control 165
8.1 Introduction 165
8.2 Problem Formulation 166
8.3 Controller Design Guaranteed Prescribed Performance 168
8.4 Simulation Studies 175
8.5 Conclusions and Future Work 179
References 179
9 Adaptive Sliding Mode Control with Prescribed Performance 181
9.1 Introduction 181
9.2 Problem Formulation 181
9.3 Model Transformation 184
9.4 Vehicles Tracking Controller Design 185
9.5 Simulation Studies 190
9.6 Conclusions and Future Work 197
References 198
Part III Speed Trajectory Planning and Control 199
10 Speed Planning and Tracking Control of Vehicles 201
10.1 Introduction 201
10.2 Problem Formulations 202
10.3 Speed Planning 205
10.4 Speed Tracking Controller Design 207
10.5 Simulation and Experiments 213
10.6 Conclusions and Future Work 221
References 224
11 Analytical Solution for Speed Planning and Tracking Control 225
11.1 Introduction 225
11.2 System Modeling and Problem Formulation 226
11.3 Speed Optimization Based on PMP 228
11.4 Speed Tracking Control and String Stability 232
11.5 Simulation Studies 237
11.6 Conclusions and Future Work 240
References 241
12 Speed Planning and Sliding-Mode Control to Reduce Intervehicle Spacing 242
12.1 Introduction 242
12.2 Problem Statement 243
12.3 Intervehicle Spacing Optimization 246
12.4 Sliding-Mode Controller Design 250
12.5 Simulation Studies 253
12.6 Conclusions and Future Work 265
References 266
13 Trajectory Planning and PID-Type Sliding-Mode Control to Reduce Intervehicle Spacing 268
13.1 Introduction 268
13.2 Problem Description 269
13.3 Distributed Trajectory Optimization 271
13.4 PID-Type Sliding-Mode Controller Design 275
13.5 Simulation Results 278
13.6 Conclusions and Future Work 288
References 288
14 Trajectory Planning and Fixed-Time Terminal Sliding-Mode Control 290
14.1 Introduction 290
14.2 Problem Formulation 291
14.3 Vehicles Trajectory Optimization 293
14.4 Fixed-Time Tracking Control Design 297
14.5 Numerical Simulations 301
14.6 Conclusions and Future Work 307
References 307
Index 309
