For the formation on unstructured road with complex road conditions, the rationality of constraint design and uncertainty compensation seriously affect the connected and autonomous vehicle (CAV) system performance. The system constraints are studied for safe and efficient formation driving, and an adaptive robust formation control scheme is proposed. First, for the desired configuration and global collision avoidance, a series of equality and unilateral inequality constraints are designed for inter-vehicle spacing. Second, a constraint handling scheme is proposed based on the diffeomorphism method, adjustable transformation function, and bounded constraint. Third, (possibly fast) time-varying but bounded multi-source uncertainty is considered, and then a self-adjusting leakage-type adaptive law is proposed to estimate the integrated uncertainty bound online. Fourth, the performance measure β is defined to evaluate the constraint-following error, and an adaptive robust control is proposed. The effectiveness of the proposed control scheme is verified by simulation. The results show that the proposed control renders the error to be uniformly bounded and uniformly ultimately bounded. The CAV system approximately follows the constraints, regardless of the uncertainty.
ChenJTShiZYZhongYS (2019) Robust formation control for uncertain multi-agent systems. Journal of the Franklin Institute356(15): 8237–8254.
2.
ChenLDongCHeSD, et al. (2023) Adaptive optimal formation control for unmanned surface vehicles with guaranteed performance using actor-critic learning architecture. International Journal of Robust and Nonlinear Control33(8): 4504–4522.
3.
ChiangMLChenYWChenCS, et al. (2020) Distributed formation control of multiagent systems with specified order. IEEE Transactions on Systems, Man, and Cybernetics: Systems52(1): 301–310.
4.
CorlessMJLeitmannG (1981) “Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems”. IEEE Transactions on Automatic Control26(5): 1139–1144.
5.
DaiSLHeSDLinH, et al. (2018) Platoon formation control with prescribed performance guarantees for USVs. IEEE Transactions on Industrial Electronics65(5): 4237–4246.
6.
DongFFZhaoXMChenYH (2020) “Optimal longitudinal control for vehicular platoon systems: adaptiveness, determinacy, and fuzzy.”IEEE Transactions on Fuzzy Systems29(4): 889–903.
7.
ElhakiOShojaeiK (2022) Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance. Journal of Vibration and Control28(20): 2696–2716.
8.
GuNWangDPengZH, et al. (2021) Observer-based finite-time control for distributed path maneuvering of underactuated unmanned surface vehicles with collision avoidance and connectivity preservation. IEEE Transactions on Systems, Man, and Cybernetics: Systems51(8): 5105–5115.
9.
HeSDWangMDaiSL, et al. (2019) Leader–follower formation control of USVs with prescribed performance and collision avoidance. IEEE Transactions on Industrial Informatics15(1): 572–581.
10.
HeXYWangQYHaoYQ (2020) Finite-time adaptive formation control for multi-agent systems with uncertainties under collision avoidance and connectivity maintenance. Science China Technological Sciences63(11): 2305–2314.
11.
HuZYHuangJYangZ, et al. (2021) “Embedding robust constraint-following control in cooperative on-ramp merging.”IEEE Transactions on Vehicular Technology70(1): 133–145.
12.
HuZYHuangJYangDG, et al. (2021) Constraint-tree-driven modeling and distributed robust control for multi-vehicle cooperation at unsignalized intersections. Transportation Research Part C: Emerging Technologies131: 103353.
13.
HuangQMYangZMHuangJ,et al. (2020) A new approach to the robust control design of fuzzy automated highway systems. Mathematical Problems in Engineering2020: 1–15
14.
HuangFHChenXLChenZ, et al. (2023) A novel SMMS teleoperation control framework for multiple mobile agents with obstacles avoidance by leader selection. IEEE Transactions on Systems, Man, and Cybernetics: Systems53(3): 1517–1529.
15.
KalabaRUdwadiaF (2001) Analytical dynamics with constraint forces that do work in virtual displacements. Applied Mathematics and Computation121(2-3): 211–217.
16.
UdwadiaFKalabaR (2002) What is the general form of the explicit equations of motion for constrained mechanical systems?Journal of Applied Mechanics69(3): 335–339.
17.
LiangXLXuGWangN (2023) Adaptive platoon finite-time control for marine surface vehicles with connectivity preservation and collision avoidance. Transactions of the Institute of Measurement and Control9: 1152639
18.
LvGHPengZHWangHL, et al. (2021) Extended-state-observer-based distributed model predictive formation control of under-actuated unmanned surface vehicles with collision avoidance. Ocean Engineering238: 109587.
19.
NilssonJBrannstromMCoelinghE, et al. (2017) “Lane change maneuvers for automated vehicles”. IEEE Transactions on Intelligent Transportation Systems18(5): 1087–1096.
20.
QinWLiuZXChenZQ (2014) Formation control for nonlinear multi-agent systems with linear extended state observer. IEEE/CAA Journal of Automatica Sinica1(2): 171–179.
21.
RahmanMSAbdel-AtyM (2018) Longitudinal safety evaluation of connected vehicles’ platooning on expressways. Accident Analysis & Prevention117: 381–391.
22.
ShojaeiKChatraeiA (2021) Robust platoon control of underactuated autonomous underwater vehicles subjected to nonlinearities, uncertainties and range and angle constraints. Applied Ocean Research110: 102594.
23.
ShouYXXuBLuHB, et al. (2022) Finite-time formation control and obstacle avoidance of multi-agent system with application. International Journal of Robust and Nonlinear Control32(5): 2883–2901.
24.
UdwadiaFE (2003) “A new perspective on the tracking control of nonlinear structural and mechanical systems.”Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences459(1783): 1783–1800.
25.
XidiasEKAzariadisPN (2016) Computing collision-free motions for a team of robots using formation and non-holonomic constraints. Robotics and Autonomous Systems82: 15–23.
26.
XuJQDuYTChenYH, et al. (2018) Optimal robust control design for constrained uncertain systems: a fuzzy-set theoretic approach. IEEE Transactions on Fuzzy Systems26(6): 3494–3505.
27.
YanYDuHPWangYF, et al. (2022) “Multi-objective asymmetric sliding mode control of connected autonomous vehicles.”IEEE Transactions on Intelligent Transportation Systems23(9): 16342–16357.
28.
YangZYHuangJGYangD, et al. (2021) “Collision-free ecological cooperative robust control for uncertain vehicular platoons with communication delay.”IEEE Transactions on Vehicular Technology70(3): 2153–2166.
29.
YangHJLiQZuoZQ, et al. (2021) Event-triggered model predictive control for multi-vehicle systems with collision avoidance and obstacle avoidance. International Journal of Robust and Nonlinear Control31(11): 5476–5494.
30.
YuJLDongXWLiQD, et al. (2019) Practical time-varying output formation tracking for high-order multi-agent systems with collision avoidance, obstacle dodging and connectivity maintenance. Journal of the Franklin Institute356(12): 5898–5926.
31.
YuRRChenHZhaoH. “Constraint-following control for mobile robots: a hierarchical approach.” In: 2019 1st International Conference on Industrial Artificial Intelligence (IAI). IEEE, 2019.
32.
ZhengYJWangQLCaoDP, et al. (2021) “Distance-based formation control for multi-lane autonomous vehicle platoons.”IET Control Theory & Applications15(11): 1506–1517.
