Connected Vehicular Systems

Preface ix Acknowledgments xiii Part I Vehicular Platoon Communication and Control 1 1 Control with Varying Communication Range 3 1.1 Introduction 3 1.2 Problem Formulation 5 1.3 Switching Control of Connected Vehicles 9 1.4 Simulations and Experiments 16 1.5 Conclusions and Future Work 23 References 24 2 Control Subject to Communication Interruptions 26 2.1 Introduction 26 2.2 Problem Formulation 27 2.3 Mixed CACC-ACC Control 28 2.4 Finite-Time Sliding-Mode Control 32 2.5 Numerical Simulations 34 2.6 Conclusions and Future Work 39 References 41 3 Control and Communication Topology Assignment 42 3.1 Introduction 42 3.2 Problem Statement 44 3.3 Communication Topology and Control Co-Design 48 3.4 Simulation Studies 57 3.5 Conclusions and Future Work 70 References 70 4 Control with Communication Delay and Switching Topologies 72 4.1 Introduction 72 4.2 Problem Formulation 73 4.3 Stability Analysis 77 4.4 Controller Synthesis 82 4.5 Simulation Studies 86 4.6 Conclusions and Future Work 95 References 96 5 Control with Event-Triggered Communication 97 5.1 Introduction 97 5.2 Problem Formulation 99 5.3 Event-Triggered Communication and Platoon Control 104 5.4 Simulation Study 107 5.5 Conclusions and Future Work 119 References 120 Part II Performance Guarantee Under Actuator Limitation 121 6 Adaptive Fault-Tolerant Control with Actuator Saturation 123 6.1 Introduction 123 6.2 System Modeling and Problem Formulation 124 6.3 Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 127 6.4 Controller Design and Stability and Analysis 128 6.5 Simulation Results 135 6.6 Conclusions and Future Work 139 References 142 7 Fault-Tolerant Control with Input Quantization and Dead Zone 143 7.1 Introduction 143 7.2 System Modeling and Problem Formulation 144 7.3 Improved Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 148 7.4 Controller Design and Stability Analysis 149 7.5 Simulation Results 155 7.6 Conclusions and Future Work 157 References 163 8 Prescribed Performance Concurrent Control 165 8.1 Introduction 165 8.2 Problem Formulation 166 8.3 Controller Design Guaranteed Prescribed Performance 168 8.4 Simulation Studies 175 8.5 Conclusions and Future Work 179 References 179 9 Adaptive Sliding Mode Control with Prescribed Performance 181 9.1 Introduction 181 9.2 Problem Formulation 181 9.3 Model Transformation 184 9.4 Vehicles Tracking Controller Design 185 9.5 Simulation Studies 190 9.6 Conclusions and Future Work 197 References 198 Part III Speed Trajectory Planning and Control 199 10 Speed Planning and Tracking Control of Vehicles 201 10.1 Introduction 201 10.2 Problem Formulations 202 10.3 Speed Planning 205 10.4 Speed Tracking Controller Design 207 10.5 Simulation and Experiments 213 10.6 Conclusions and Future Work 221 References 224 11 Analytical Solution for Speed Planning and Tracking Control 225 11.1 Introduction 225 11.2 System Modeling and Problem Formulation 226 11.3 Speed Optimization Based on PMP 228 11.4 Speed Tracking Control and String Stability 232 11.5 Simulation Studies 237 11.6 Conclusions and Future Work 240 References 241 12 Speed Planning and Sliding-Mode Control to Reduce Intervehicle Spacing 242 12.1 Introduction 242 12.2 Problem Statement 243 12.3 Intervehicle Spacing Optimization 246 12.4 Sliding-Mode Controller Design 250 12.5 Simulation Studies 253 12.6 Conclusions and Future Work 265 References 266 13 Trajectory Planning and PID-Type Sliding-Mode Control to Reduce Intervehicle Spacing 268 13.1 Introduction 268 13.2 Problem Description 269 13.3 Distributed Trajectory Optimization 271 13.4 PID-Type Sliding-Mode Controller Design 275 13.5 Simulation Results 278 13.6 Conclusions and Future Work 288 References 288 14 Trajectory Planning and Fixed-Time Terminal Sliding-Mode Control 290 14.1 Introduction 290 14.2 Problem Formulation 291 14.3 Vehicles Trajectory Optimization 293 14.4 Fixed-Time Tracking Control Design 297 14.5 Numerical Simulations 301 14.6 Conclusions and Future Work 307 References 307 Index 309