Nonlinear and Adaptive Suboptimal Control of Connected Vehicles: A Global Adaptive Dynamic Programming Approach

Weinan Gao, Zhong-Ping Jiang

Research output: Contribution to journalArticle

Abstract

This paper studies the cooperative adaptive cruise control (CACC) problem of connected vehicles with unknown nonlinear dynamics. Different from the present literature on CACC, data-driven feedforward and optimal feedback control policies are developed by global adaptive dynamic programming (GADP). Due to the presence of nonvanishing disturbance, a modified version of GADP is presented. Interestingly, the developed policy is guaranteed to globally stabilize the vehicular platoon system, and is robust to unmeasurable nonvanishing disturbance. Numerical simulation results are presented to validate the effectiveness of the developed approach.

Original languageEnglish (US)
Pages (from-to)1-15
Number of pages15
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
DOIs
StateAccepted/In press - Jun 24 2016

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Adaptive cruise control
Dynamic programming
Feedback control
Computer simulation

Keywords

  • Adaptive dynamic programming (ADP)
  • Connected vehicles
  • Cooperative adaptive cruise control (CACC)
  • Nonlinear optimal control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

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abstract = "This paper studies the cooperative adaptive cruise control (CACC) problem of connected vehicles with unknown nonlinear dynamics. Different from the present literature on CACC, data-driven feedforward and optimal feedback control policies are developed by global adaptive dynamic programming (GADP). Due to the presence of nonvanishing disturbance, a modified version of GADP is presented. Interestingly, the developed policy is guaranteed to globally stabilize the vehicular platoon system, and is robust to unmeasurable nonvanishing disturbance. Numerical simulation results are presented to validate the effectiveness of the developed approach.",
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AB - This paper studies the cooperative adaptive cruise control (CACC) problem of connected vehicles with unknown nonlinear dynamics. Different from the present literature on CACC, data-driven feedforward and optimal feedback control policies are developed by global adaptive dynamic programming (GADP). Due to the presence of nonvanishing disturbance, a modified version of GADP is presented. Interestingly, the developed policy is guaranteed to globally stabilize the vehicular platoon system, and is robust to unmeasurable nonvanishing disturbance. Numerical simulation results are presented to validate the effectiveness of the developed approach.

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