TY - GEN
T1 - A Novel Autonomous Trajectory Control for Vehicular Cyber-Physical Systems with Flocking Control Algorithms
AU - Wang, Fengchen
AU - Chen, Yan
N1 - Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - Cooperative control of multiple autonomous ground vehicles (AGVs) with flocking algorithms has promising potential to tackle the issues of traffic congestion and accidents. This paper presents a novel method to generate predictive yaw rate references of multiple AGVs to follow path trajectories planned by flocking algorithms without utilizing tire cornering stiffness information. In addition, an analytical single-point preview driver model is proposed to serve as a feedforward controller to mitigate both longitudinal and lateral position tracking errors, together with a feedback controller designed through the Lyapunov theory. Trajectory control of five indistinctive vehicles based on flocking algorithms is studied. Demonstrated by simulations results, all the simulated vehicles can successfully achieve a flock topology without collisions and accurately track planned path trajectories and yaw rate references.
AB - Cooperative control of multiple autonomous ground vehicles (AGVs) with flocking algorithms has promising potential to tackle the issues of traffic congestion and accidents. This paper presents a novel method to generate predictive yaw rate references of multiple AGVs to follow path trajectories planned by flocking algorithms without utilizing tire cornering stiffness information. In addition, an analytical single-point preview driver model is proposed to serve as a feedforward controller to mitigate both longitudinal and lateral position tracking errors, together with a feedback controller designed through the Lyapunov theory. Trajectory control of five indistinctive vehicles based on flocking algorithms is studied. Demonstrated by simulations results, all the simulated vehicles can successfully achieve a flock topology without collisions and accurately track planned path trajectories and yaw rate references.
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U2 - 10.23919/ACC.2018.8431148
DO - 10.23919/ACC.2018.8431148
M3 - Conference contribution
AN - SCOPUS:85052558495
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 5076
EP - 5081
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -