Energy dissipation based longitudinal and lateral coupling control for intelligent vehicles
dc.contributor.author | Zhang, Rui | |
dc.contributor.author | Ma, Yulin | |
dc.contributor.author | Li, Zhixiong | |
dc.contributor.author | Malekian, Reza | |
dc.contributor.author | Sotel | |
dc.date.accessioned | 2018-08-06T11:14:19Z | |
dc.date.available | 2018-08-06T11:14:19Z | |
dc.date.issued | 2018-04 | |
dc.description.abstract | This paper proposes a combined longitudinal and lateral control approach for an intelligent vehicle system based on energy dissipation. The vehicle system dynamics resembles a series of mass/spring/damper systems that are dissipative, i.e., the energy of the system decays to zero eventually. Thus, the nonlinear-optimal longitudinal and lateral coupling control problem of the intelligent vehicle system is transformed into a dissipative control design based on an energy storage function. To satisfy the γ-performance, with respect to the quadratic supply rate, the storage function is developed by using a back-stepping based Lyapunov method and a step-by-step improvement of performance bounds. A dissipative feedback control law is formulated by successive approximation based on the step-by-step reduction of the value of γ. The results of the adaptive vehicle control simulations and test-bed experiments are provided and verified by the respective comparison of energy consumption on different values of γ and speed adaption under different road geometries. | en_ZA |
dc.description.department | Electrical, Electronic and Computer Engineering | en_ZA |
dc.description.librarian | hj2018 | en_ZA |
dc.description.sponsorship | In part by the National Key Research and Development Program (2016YFB0100903), the National Natural Science Foundation of China (61503284, 51505475 and 51408417) and Yingcai Project of CUMT (YC170001). | en_ZA |
dc.description.uri | https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=5117645 | en_ZA |
dc.identifier.citation | Zhang, R., Ma, Y., Li, Z. et al. 2018, 'Energy dissipation based longitudinal and lateral coupling control for intelligent vehicles', IEEE Intelligent Transportation Systems Magazine, vol. 10, no. 2, pp. 121-133. | en_ZA |
dc.identifier.issn | 1939-1390 | |
dc.identifier.other | 10.1109/MITS.2018.2806623 | |
dc.identifier.uri | http://hdl.handle.net/2263/66111 | |
dc.language.iso | en | en_ZA |
dc.publisher | Institute of Electrical and Electronics Engineers | en_ZA |
dc.rights | © 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. | en_ZA |
dc.subject | Longitudinal control | en_ZA |
dc.subject | Vehicle system dynamics | en_ZA |
dc.subject | Successive approximations | en_ZA |
dc.subject | Performance bounds | en_ZA |
dc.subject | Nonlinear optimal | en_ZA |
dc.subject | Lateral coupling | en_ZA |
dc.subject | Intelligent vehicle systems | en_ZA |
dc.subject | Dissipative feedbacks | en_ZA |
dc.subject | Dissipative control | en_ZA |
dc.subject | Vehicles | en_ZA |
dc.subject | Lyapunov methods | en_ZA |
dc.subject | Intelligent vehicle highway systems | en_ZA |
dc.subject | Energy utilization | en_ZA |
dc.subject | Energy dissipation | en_ZA |
dc.subject | Control system synthesis | en_ZA |
dc.title | Energy dissipation based longitudinal and lateral coupling control for intelligent vehicles | en_ZA |
dc.type | Postprint Article | en_ZA |