This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumpti...This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumption. The first part vehicle controller is derived in the context of receding horizon optimal control by constructing and solving an optimization problem of overall fuel consumption. The Second part platoon controller is a complementation of the first part, which is given on the basis of platoon stability analysis. The effectiveness of the presented platoon control method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.展开更多
A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse...A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse transformation of the state transition matrix is derived to study the relative orbit control strategy.Impulsive feedback control laws are developed for both in-plane and out-of-plane relative motions.Control of in-plane and out-of-plane relative motions can be completely decoupled using the ROE-based feedback control law.A tangential impulsive control method is proposed to study the relationship of fuel consumption and maneuvering positions.An optimal analytical along-track impulsive control strategy is then derived.Different typical orbit maneuvers,including formation establishment,reconfguration,long-distance maneuvers,and formation keeping,are taken as examples to demonstrate the performance of the proposed control laws.The effects of relative measurement errors are also considered to validate the high accuracy of the proposed control method.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.61273107 and 61573077)Dalian Leading Talent(Grant No.841252)
文摘This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumption. The first part vehicle controller is derived in the context of receding horizon optimal control by constructing and solving an optimization problem of overall fuel consumption. The Second part platoon controller is a complementation of the first part, which is given on the basis of platoon stability analysis. The effectiveness of the presented platoon control method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.
基金supported by the Innovation Foundation of BUAA for PhD Graduates (No.YWF-12-RBYJ-024)the National Natural Science Foundation of China (No.11002008)National Basic Research Program of China (No.2009CB723906)
文摘A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse transformation of the state transition matrix is derived to study the relative orbit control strategy.Impulsive feedback control laws are developed for both in-plane and out-of-plane relative motions.Control of in-plane and out-of-plane relative motions can be completely decoupled using the ROE-based feedback control law.A tangential impulsive control method is proposed to study the relationship of fuel consumption and maneuvering positions.An optimal analytical along-track impulsive control strategy is then derived.Different typical orbit maneuvers,including formation establishment,reconfguration,long-distance maneuvers,and formation keeping,are taken as examples to demonstrate the performance of the proposed control laws.The effects of relative measurement errors are also considered to validate the high accuracy of the proposed control method.
