期刊
IET CONTROL THEORY AND APPLICATIONS
卷 14, 期 14, 页码 1898-1911出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2019.1403
关键词
adaptive control; control system synthesis; Lyapunov methods; neurocontrollers; closed loop systems; observers; control nonlinearities; radial basis function networks; nonlinear control systems; robust control; feedback; uncertain systems; collision avoidance; mobile robots; multi-robot systems; agricultural robots; variable structure systems; collision avoidance; platoon formation errors; ultimate tracking accuracy; Lyapunov-based stability analysis; observer-based neural adaptive control; autonomous tractor-trailer vehicles; uncertain dynamics; platoon formation control problem; multiple off-axle hitching tractor-trailers; communication ranges; uncertainties model; external disturbances; second-order Euler-Lagrange formulation; structural properties; tractor-trailer dynamics; radial basis function neural networks; adaptive robust controller; high-gain observer; robust performance; unmodelled dynamics; saturated filtered tracking error; platoon output-feedback controller; inter-vehicular communication maintenance; performance nonlinear transformation; performance design procedure
This study addresses the platoon formation control problem of multiple off-axle hitching tractor-trailers with limited communication ranges, under model uncertainties and external disturbances, without any collision and without velocity and acceleration measurements for the first time. Towards this end, a new second-order Euler-Lagrange formulation of tractor-trailers is introduced under the prescribed performance design procedure that preserves all structural properties of the tractor-trailer dynamics. Then, a prescribed performance non-linear transformation, a saturated filtered tracking error, radial basis function neural networks, an adaptive robust controller, and a high-gain observer are creatively employed to design a novel platoon output-feedback controller, which forces the vehicles to construct a desired convoy while guaranteeing the robust performance against unmodelled dynamics and external forces and ensuring inter-vehicular communication maintenance, collision avoidance between each successive pair in the convoy of vehicles, and some preassigned desired response specifications of platoon formation errors including overshoot/undershoot, convergence speed, and ultimate tracking accuracy. By utilising a Lyapunov-based stability analysis, a semi-global uniform ultimate boundedness of formation errors is ensured with prescribed performance. Finally, simulation results illustrate the efficacy of the proposed control system.
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