Connected Vehicular Systems

Ge Guo is a Professor at Northeastern University, China, having previously held positions as a Professor at Dalian Maritime University and as Director of the Institute of Intelligent Robotics at Lanzhou University of Technology. Shixi Wen is an Associate Professor at Dalian University.

• Preface ixAcknowledgments xiiiPart I Vehicular Platoon Communication and Control 11 Control with Varying Communication Range 31.1 Introduction 31.2 Problem Formulation 51.3 Switching Control of Connected Vehicles 91.4 Simulations and Experiments 161.5 Conclusions and Future Work 23References 242 Control Subject to Communication Interruptions 262.1 Introduction 262.2 Problem Formulation 272.3 Mixed CACC-ACC Control 282.4 Finite-Time Sliding-Mode Control 322.5 Numerical Simulations 342.6 Conclusions and Future Work 39References 413 Control and Communication Topology Assignment 423.1 Introduction 423.2 Problem Statement 443.3 Communication Topology and Control Co-Design 483.4 Simulation Studies 573.5 Conclusions and Future Work 70References 704 Control with Communication Delay and Switching Topologies 724.1 Introduction 724.2 Problem Formulation 734.3 Stability Analysis 774.4 Controller Synthesis 824.5 Simulation Studies 864.6 Conclusions and Future Work 95References 965 Control with Event-Triggered Communication 975.1 Introduction 975.2 Problem Formulation 995.3 Event-Triggered Communication and Platoon Control 1045.4 Simulation Study 1075.5 Conclusions and Future Work 119References 120Part II Performance Guarantee Under Actuator Limitation 1216 Adaptive Fault-Tolerant Control with Actuator Saturation 1236.1 Introduction 1236.2 System Modeling and Problem Formulation 1246.3 Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 1276.4 Controller Design and Stability and Analysis 1286.5 Simulation Results 1356.6 Conclusions and Future Work 139References 1427 Fault-Tolerant Control with Input Quantization and Dead Zone 1437.1 Introduction 1437.2 System Modeling and Problem Formulation 1447.3 Improved Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 1487.4 Controller Design and Stability Analysis 1497.5 Simulation Results 1557.6 Conclusions and Future Work 157References 1638 Prescribed Performance Concurrent Control 1658.1 Introduction 1658.2 Problem Formulation 1668.3 Controller Design Guaranteed Prescribed Performance 1688.4 Simulation Studies 1758.5 Conclusions and Future Work 179References 1799 Adaptive Sliding Mode Control with Prescribed Performance 1819.1 Introduction 1819.2 Problem Formulation 1819.3 Model Transformation 1849.4 Vehicles Tracking Controller Design 1859.5 Simulation Studies 1909.6 Conclusions and Future Work 197References 198Part III Speed Trajectory Planning and Control 19910 Speed Planning and Tracking Control of Vehicles 20110.1 Introduction 20110.2 Problem Formulations 20210.3 Speed Planning 20510.4 Speed Tracking Controller Design 20710.5 Simulation and Experiments 21310.6 Conclusions and Future Work 221References 22411 Analytical Solution for Speed Planning and Tracking Control 22511.1 Introduction 22511.2 System Modeling and Problem Formulation 22611.3 Speed Optimization Based on PMP 22811.4 Speed Tracking Control and String Stability 23211.5 Simulation Studies 23711.6 Conclusions and Future Work 240References 24112 Speed Planning and Sliding-Mode Control to Reduce Intervehicle Spacing 24212.1 Introduction 24212.2 Problem Statement 24312.3 Intervehicle Spacing Optimization 24612.4 Sliding-Mode Controller Design 25012.5 Simulation Studies 25312.6 Conclusions and Future Work 265References 26613 Trajectory Planning and PID-Type Sliding-Mode Control to Reduce Intervehicle Spacing 26813.1 Introduction 26813.2 Problem Description 26913.3 Distributed Trajectory Optimization 27113.4 PID-Type Sliding-Mode Controller Design 27513.5 Simulation Results 27813.6 Conclusions and Future Work 288References 28814 Trajectory Planning and Fixed-Time Terminal Sliding-Mode Control 29014.1 Introduction 29014.2 Problem Formulation 29114.3 Vehicles Trajectory Optimization 29314.4 Fixed-Time Tracking Control Design 29714.5 Numerical Simulations 30114.6 Conclusions and Future Work 307References 307Index 309