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You searched for subject:(Heterogeneous platooning). Showing records 1 – 2 of 2 total matches.

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Delft University of Technology

1. Abou Harfouch, Youssef (author). Adaptive strategies for platooning.

Degree: 2017, Delft University of Technology

Automated driving, one of the rapidly growing research topics in the field of smart traffic, has proved to be a recognized solution for potentially improving road throughput and reducing vehicles' energy consumption by grouping individual vehicles into platoons controlled by one leading vehicle. The advances in distributed inter-vehicle communication networks have stimulated a fruitful line of research in Cooperative Adaptive Cruise Control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and communication with the preceding vehicle so as to maintain a safe inter-vehicle distance. The importance of CACC lies in the fact that it enables small inter-vehicle time gaps, which leads to a major reduction of the aerodynamical drag force applied on vehicles in such a driving pattern. Consequently, vehicle emissions, which play a main role in trucks and heavy automobiles, are expected to be highly reduced. However, a crucial limitation of the state-of-the-art research in this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics and perfect engine performance (homogeneous platoon), and possibly an ideal communication channel. Thus, the objective of this MSc thesis is to address the problem of CACC for heterogeneous platoons under realistic inter-vehicle network conditions. In the first part, we propose a novel CACC strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability for uncertain heterogeneous platoons under ideal inter-vehicle network conditions. In the second part, in order to handle the inevitable communication losses, we formulate an extended average dwell-time framework and design an adaptive switched control strategy which activates an augmented CACC or an augmented Adaptive Cruise Control strategy depending on communication reliability. Stability of the proposed control strategies is proven analytically and simulations are conducted to validate the theoretical analysis. Advisors/Committee Members: Baldi, Simone (mentor), Yuan, Shuai (mentor), Verhaegen, Michel (graduation committee), Alonso Mora, Javier (graduation committee), Wang, Meng (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Heterogeneous platooning; Cooperative adaptive cruise control; Adaptive control; Switched control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Abou Harfouch, Y. (. (2017). Adaptive strategies for platooning. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20

Chicago Manual of Style (16th Edition):

Abou Harfouch, Youssef (author). “Adaptive strategies for platooning.” 2017. Masters Thesis, Delft University of Technology. Accessed March 05, 2021. http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20.

MLA Handbook (7th Edition):

Abou Harfouch, Youssef (author). “Adaptive strategies for platooning.” 2017. Web. 05 Mar 2021.

Vancouver:

Abou Harfouch Y(. Adaptive strategies for platooning. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 05]. Available from: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20.

Council of Science Editors:

Abou Harfouch Y(. Adaptive strategies for platooning. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20


Delft University of Technology

2. Rosa, Muhammad Ridho (author). Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach.

Degree: 2018, Delft University of Technology

Synchronization of Multi-Agent Systems (MASs) has the potential to benefit many technological areas such as formation control for unmanned vehicles, cooperative adaptive cruise control, and spacecraft attitude control. Information plays a crucial role in MASs: in centralized approaches, a central node utilizes global information to achieve synchronization, while in distributed approach agents only utilize local information, i.e. neighbors’ information. A big concern in MASs is the presence of parametric uncertainties (unknown dynamics), which might require adaptive control gains instead of fixed control gains. This work thus provides a novel adaptive distributed control for MASs of heterogeneous agents with unknown dynamics based on model reference adaptive control (MRAC). We study both the synchronization of linear systems and the synchronization of Euler- Lagrange (EL) systems. The implementation of this scheme is based on distributed matching condition assumptions. We study such matching conditions both for the statefeedback case and output-feedback case. Since all matching gains are unknown in view of the unknown dynamics, the gains are adapted online via Lyapunov-based estimation. The asymptotic convergence of the synchronization error is analytically proven by introducing an appropriately defined Lyapunov function, and numerical examples show the effectiveness of the approach. The practical advantage of the proposed distributed MRAC is the possibility of handling unknown dynamics by simply exchanging the states/output, and inputs with neighbors, without any extra auxiliary variables (distributed observer) nor sliding mode. Because of the mutual dependence of control inputs, well-posedness problems will arise in the presence of cyclic communication, if the inputs are generated without a prescribed priority. In this work, we study such well-posedness problems via parameter projection methods.

Embedded Systems

Advisors/Committee Members: Baldi, Simone (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Adaptive control; Uncertain Heterogeneous Agent; Multi-Agent systems; Euler-Lagrange Systems; platooning strategy; UAV; Synchronization

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Rosa, M. R. (. (2018). Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8

Chicago Manual of Style (16th Edition):

Rosa, Muhammad Ridho (author). “Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach.” 2018. Masters Thesis, Delft University of Technology. Accessed March 05, 2021. http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8.

MLA Handbook (7th Edition):

Rosa, Muhammad Ridho (author). “Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach.” 2018. Web. 05 Mar 2021.

Vancouver:

Rosa MR(. Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 05]. Available from: http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8.

Council of Science Editors:

Rosa MR(. Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8

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