Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety,improved highway utility,increased fuel economy,and reduced emission toward intellige...Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety,improved highway utility,increased fuel economy,and reduced emission toward intelligent transportation systems.Platoon control encounters great challenges from vehicle control,communications,team coordination,and uncertainties.This paper introduces a new method for coordinated control of platoons by using integrated network consensus decisions and vehicle control.To achieve suitable coordination of the team vehicles based on terrain and environmental conditions,the emerging technology of network consensus control is modified to a weighted and constrained consensus-seeking framework.Algorithms are introduced and their convergence properties are established.The methodology employs neighborhood information through on-board sensors and V2 V or V2 I communications,but achieves global coordination of the entire platoon.The ability of the methods in terms of robustness,disturbance rejection,noise attenuation,and cyber-physical interaction is analyzed and demonstrated with simulated case studies.展开更多
Optimization methods in cyber-physical systems do not involve parameter uncertainties in most existing literature.This paper considers adaptive optimization problems in which searching for optimal solutions and identi...Optimization methods in cyber-physical systems do not involve parameter uncertainties in most existing literature.This paper considers adaptive optimization problems in which searching for optimal solutions and identifying unknown parameters must be performed simultaneously.Due to the dual roles of the input signals on achieving optimization and providing persistent excitation for identification,a fundamental conflict arises.In this paper,a method of adding a small deterministic periodic dither signal to the input is deployed to resolve this conflict and provide sufficient excitation for estimating the unknown parameters.The designing principle of the dither is discussed.Under dithered inputs,the authors show that simultaneous convergence of parameter estimation and optimization can be achieved.Convergence properties and convergence rates of parameter estimation and optimization variable updates are presented under the scenarios of uncertainty-free observations and systems with noisy observation and unmodeled components.The fundamental relationships and tradeoff among updating step sizes,dither magnitudes,parameter estimation errors,optimization accuracy,and convergence rates are further investigated.展开更多
基金supported by the USA National Science Foundation under Grant No.CNS-1136007
文摘Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety,improved highway utility,increased fuel economy,and reduced emission toward intelligent transportation systems.Platoon control encounters great challenges from vehicle control,communications,team coordination,and uncertainties.This paper introduces a new method for coordinated control of platoons by using integrated network consensus decisions and vehicle control.To achieve suitable coordination of the team vehicles based on terrain and environmental conditions,the emerging technology of network consensus control is modified to a weighted and constrained consensus-seeking framework.Algorithms are introduced and their convergence properties are established.The methodology employs neighborhood information through on-board sensors and V2 V or V2 I communications,but achieves global coordination of the entire platoon.The ability of the methods in terms of robustness,disturbance rejection,noise attenuation,and cyber-physical interaction is analyzed and demonstrated with simulated case studies.
基金the Air Force Office of Scientific Research under Grant No.FA9550-18-1-0268。
文摘Optimization methods in cyber-physical systems do not involve parameter uncertainties in most existing literature.This paper considers adaptive optimization problems in which searching for optimal solutions and identifying unknown parameters must be performed simultaneously.Due to the dual roles of the input signals on achieving optimization and providing persistent excitation for identification,a fundamental conflict arises.In this paper,a method of adding a small deterministic periodic dither signal to the input is deployed to resolve this conflict and provide sufficient excitation for estimating the unknown parameters.The designing principle of the dither is discussed.Under dithered inputs,the authors show that simultaneous convergence of parameter estimation and optimization can be achieved.Convergence properties and convergence rates of parameter estimation and optimization variable updates are presented under the scenarios of uncertainty-free observations and systems with noisy observation and unmodeled components.The fundamental relationships and tradeoff among updating step sizes,dither magnitudes,parameter estimation errors,optimization accuracy,and convergence rates are further investigated.
