An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Liu, Di (Southeast University; Rijksuniversiteit Groningen)
Besselink, Bart (Rijksuniversiteit Groningen)
Baldi, S. (TU Delft Team Bart De Schutter; Southeast University)
Yu, Wenwu (Southeast University)
Trentelman, Harry L. (Rijksuniversiteit Groningen)

2022

Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e. the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the disturbance decoupling approach naturally yields a decentralized controller that guarantees stability and string stability. In this work, we further exploit the disturbance decoupling framework and we show that convergence to a stable, string stable and disturbance decoupled behavior can be achieved even in the presence of parametric uncertainty of the engine time constant. We refer to this framework as adaptive disturbance decoupling.

Adaptation models
Adaptive control
Asymptotic stability
Closed loop systems
Engines
Stability analysis
Vehicle dynamics

http://resolver.tudelft.nl/uuid:04cfea8b-065b-4eed-bd21-882fdfe9e646

https://doi.org/10.1109/LCSYS.2021.3084960

2475-1456

IEEE Control Systems Letters, 6, 668-673

Accepted Author Manuscript

Institutional Repository

journal article

© 2022 Di Liu, Bart Besselink, S. Baldi, Wenwu Yu, Harry L. Trentelman