An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Journal article (2022)

Authors

Di Liu Rijksuniversiteit Groningen, Southeast University
Bart Besselink Rijksuniversiteit Groningen
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Wenwu Yu Southeast University
Harry L. Trentelman Rijksuniversiteit Groningen
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Di Liu, Bart Besselink, S. Baldi, Wenwu Yu, Harry L. Trentelman
DOI: https://doi.org/10.1109/LCSYS.2021.3084960
Adaptive control Stability analysis Vehicle dynamics Engines Adaptation models Asymptotic stability Closed loop systems
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

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.