Event-Triggered Control with Intermittent Communications over Erasure Channels for Leader-Follower Problems with the Combined-Slip Effect

IF 2 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
Mohammad H. Mamduhi, Ehsan Hashemi
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Abstract

In this article, we investigate the vehicle path-following problem for a vehicle-to-vehicle (V2V)–enabled leader–follower scenario and propose an integrated control policy for the following vehicle to accurately follow the leader’s path. We propose a control strategy for the follower vehicle to maintain a velocity-dependent distance relative to the leader vehicle while stabilizing its longitudinal and lateral dynamics considering the combined-slip effect and tire force saturation. In light of reducing wireless communication errors and efficient usage of battery power and resources, we propose an intermittent V2V communication in which transmissions are scheduled based on an event-triggered law. An event is triggered and a transmission is scheduled in subsequent sample time if some of the well-defined path-following error functions (relative distance error and lateral error) exceed given tolerance bounds. Considering that the V2V communication channel might be erroneous or a transmission fails due to, e.g., vehicles’ distance or low battery power, we consider data loss in the V2V channel. Our proposed control law consists of two components: a receding horizon feedback controller with state constraints based on a safe operation envelop and a feedforward controller that generates complementary control inputs when the leader’s states are successfully communicated to the follower. To mitigate the effects of data loss on the follower’s path-following performance, we design a remote estimator for the follower to predict the leader’s state using its on-board sensor equipment when an event is triggered but the corresponding state information is not received by the follower due to a packet loss. Incorporating this estimator allows the follower to apply cautionary control inputs knowing that the path-following error had exceeded a tolerance bound. We show that while the feedback controller stabilizes the follower’s dynamics, the feedforward component improves the safety margins and reduces the path-following errors even in the presence of data loss. High-fidelity simulations are performed using CarSim to validate the effectiveness of our proposed control architecture specifically in harsh maneuvers and high-slip scenarios on various road surface conditions.
具有联合滑移效应的领导-随从问题的擦除信道间歇通信事件触发控制
在本文中,我们研究了车辆对车辆(V2V)支持的领导者-追随者场景下的车辆路径跟踪问题,并提出了一种集成控制策略,使后面的车辆能够准确地跟随领导者的路径。在考虑联合滑移效应和轮胎力饱和的情况下,提出了一种随车相对于前车保持速度相关距离的控制策略,同时稳定其纵向和横向动力学。为了减少无线通信错误和有效利用电池电力和资源,我们提出了一种基于事件触发规律的间歇性V2V通信。如果一些定义良好的路径跟踪误差函数(相对距离误差和横向误差)超过给定的容限,则触发事件并在随后的采样时间内调度传输。考虑到由于车辆距离或电池电量不足等原因,V2V通信通道可能出现错误或传输失败,我们考虑V2V通道中的数据丢失。我们提出的控制律由两个部分组成:一个基于安全运行包络的状态约束的后退地平线反馈控制器和一个前馈控制器,当领导者的状态成功地传达给追随者时,前馈控制器产生互补的控制输入。为了减轻数据丢失对follower路径跟踪性能的影响,我们为follower设计了一个远程估计器,当事件被触发但由于数据包丢失而无法接收到相应的状态信息时,follower可以使用其车载传感器设备预测leader的状态。结合此估计器允许跟踪者在知道路径跟踪误差已超过容限范围的情况下应用谨慎控制输入。我们表明,虽然反馈控制器稳定了跟随者的动态,但前馈组件提高了安全裕度,并且即使在存在数据丢失的情况下也减少了路径跟踪错误。使用CarSim进行了高保真仿真,以验证我们提出的控制体系结构的有效性,特别是在各种路面条件下的苛刻机动和高滑移情况下。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
ACM Transactions on Cyber-Physical Systems
ACM Transactions on Cyber-Physical Systems COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS-
CiteScore
5.70
自引率
4.30%
发文量
40
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