Energy dissipation based longitudinal and lateral coupling control for intelligent vehicles

dc.contributor.authorZhang, Rui
dc.contributor.authorMa, Yulin
dc.contributor.authorLi, Zhixiong
dc.contributor.authorMalekian, Reza
dc.contributor.authorSotel
dc.date.accessioned2018-08-06T11:14:19Z
dc.date.available2018-08-06T11:14:19Z
dc.date.issued2018-04
dc.description.abstractThis 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.departmentElectrical, Electronic and Computer Engineeringen_ZA
dc.description.librarianhj2018en_ZA
dc.description.sponsorshipIn 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.urihttps://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=5117645en_ZA
dc.identifier.citationZhang, 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.issn1939-1390
dc.identifier.other10.1109/MITS.2018.2806623
dc.identifier.urihttp://hdl.handle.net/2263/66111
dc.language.isoenen_ZA
dc.publisherInstitute of Electrical and Electronics Engineersen_ZA
dc.rights© 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.en_ZA
dc.subjectLongitudinal controlen_ZA
dc.subjectVehicle system dynamicsen_ZA
dc.subjectSuccessive approximationsen_ZA
dc.subjectPerformance boundsen_ZA
dc.subjectNonlinear optimalen_ZA
dc.subjectLateral couplingen_ZA
dc.subjectIntelligent vehicle systemsen_ZA
dc.subjectDissipative feedbacksen_ZA
dc.subjectDissipative controlen_ZA
dc.subjectVehiclesen_ZA
dc.subjectLyapunov methodsen_ZA
dc.subjectIntelligent vehicle highway systemsen_ZA
dc.subjectEnergy utilizationen_ZA
dc.subjectEnergy dissipationen_ZA
dc.subjectControl system synthesisen_ZA
dc.titleEnergy dissipation based longitudinal and lateral coupling control for intelligent vehiclesen_ZA
dc.typePostprint Articleen_ZA

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