Hierarchical fuzzy logic-based variable structure control for vehicles platooning

dc.contributor.authorMa, Yulin
dc.contributor.authorLi, Zhixiong
dc.contributor.authorMalekian, Reza
dc.contributor.authorZhang, Rui
dc.contributor.authorSong, Xianghui
dc.contributor.authorSotelo, Miguel Angel
dc.date.accessioned2018-08-06T09:50:13Z
dc.date.available2018-08-06T09:50:13Z
dc.date.issued2018-06
dc.description.abstractThis paper proposes a variable structure control approach for vehicles platooning based on a hierarchical fuzzy logic. The leader-follower vehicle dynamics with model uncertainties is discussed from the viewpoint of a consensus problem. A practical two-layer fuzzy control for the platooning is designed by employing two common spacing policies to ensure system robustness in different scenarios. The two policies, i.e., constant distance and constant time headway, utilize the predecessor-successor information flow from the immediate predecessor and follower other than controlled vehicles. The first layer of the fuzzy system combines spacing control with velocity-acceleration control to achieve a rapid tracking for the desired control commands, and the second layer combines the sliding mode control to adaptively compensate for reducing the state errors caused by parameter uncertainties and disturbances. Shift between different controller parameters is based on performance boundaries to guarantee the stability of individual vehicle and platooning for arbitrary initial spacing and velocity errors. These performance boundaries can be determined by using a Lyapunov method with exponential stability. Simulation of a ten-vehicle large platooning with two spacing policies shows that the control performance of the newly proposed method is effective and promising.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 and 51408417) and the National Research Foundation, South Africa (IFR160118156967 and RDYR160404161474).en_ZA
dc.description.urihttp://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979en_ZA
dc.identifier.citationMa, Y., Li, Z., Malekian, R. et al. 2019, 'Hierarchical fuzzy logic-based variable structure control for vehicles platooning', IEEE Transactions on Intelligent Transportation Systems, vol. 20, no. 4, pp. 1329-1340.en_ZA
dc.identifier.issn1524-9050 (print)
dc.identifier.issn1558-0016 (online)
dc.identifier.other10.1109/TITS.2018.2846198
dc.identifier.urihttp://hdl.handle.net/2263/66108
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.subjectVehicles platooningen_ZA
dc.subjectPlatoon stabilityen_ZA
dc.subjectHierarchical fuzzy controlen_ZA
dc.subjectConstant distanceen_ZA
dc.subjectAdaptive compensationen_ZA
dc.subjectControl systemsen_ZA
dc.subjectRobustnessen_ZA
dc.subjectFuzzy controlen_ZA
dc.subjectAdaptation modelsen_ZA
dc.subjectNumerical stabilityen_ZA
dc.subjectFuzzy logicen_ZA
dc.subjectStability analysisen_ZA
dc.subjectVariable structure controlen_ZA
dc.subjectConstant time headwayen_ZA
dc.subjectVehicle performanceen_ZA
dc.subjectUncertainty analysisen_ZA
dc.subjectTraffic controlen_ZA
dc.subjectSliding mode controlen_ZA
dc.subjectLyapunov methodsen_ZA
dc.subjectComputer circuitsen_ZA
dc.titleHierarchical fuzzy logic-based variable structure control for vehicles platooningen_ZA
dc.typePostprint Articleen_ZA

Files

Original bundle

Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
Ma_Hierarchical_2019.pdf
Size:
1.08 MB
Format:
Adobe Portable Document Format
Description:
Postprint Article

License bundle

Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
license.txt
Size:
1.75 KB
Format:
Item-specific license agreed upon to submission
Description: