The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
조회수
80
본 논문은 차량 소대의 병합 및 분할 기동을 위한 속도 제어 문제를 고려합니다. 본 논문에서는 외부 장치가 군집 내 일부 차량에 속도 명령을 보내고 나머지 차량은 자율적으로 속도를 조정합니다. 전자는 고정 제어이고, 후자는 다중 에이전트 제어에서의 합의 제어입니다. 우리는 스위치드 피닝 제어 알고리즘을 제안한다. 우리의 알고리즘은 세 가지 하위 방법으로 구성됩니다. 첫 번째는 MLD(Mixed Logical Dynamical) 시스템 모델과 MPC(Model Predictive Control)를 기반으로 에이전트를 고정하는 최적의 전환 방법입니다. 두 번째는 병합 및 분할 기동을 통한 역동적인 소대 편성을 표현하는 방법이다. 소대 편성은 차량 간의 위치 관계나 외부 장치의 편대 요구에 따릅니다. 세 번째는 정상 상태에서 피닝 에이전트의 전환에 불이익을 주는 비용 함수를 설정하여 전환을 줄이는 방법입니다. 제안된 알고리즘을 통해 합의 속도를 향상시킬 수 있습니다. 또한, 우리의 알고리즘은 소대를 임의의 소대로 재편성하고 여러 차량 소대의 속도를 각 목표 값으로 제어할 수 있습니다.
Takuma WAKASA
The University of Electro-Communications
Yoshiki NAGATANI
The University of Electro-Communications
Kenji SAWADA
The University of Electro-Communications
Seiichi SHIN
The University of Electro-Communications
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Takuma WAKASA, Yoshiki NAGATANI, Kenji SAWADA, Seiichi SHIN, "Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons" in IEICE TRANSACTIONS on Fundamentals,
vol. E103-A, no. 4, pp. 657-667, April 2020, doi: 10.1587/transfun.2019EAP1108.
Abstract: This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2019EAP1108/_p
부
@ARTICLE{e103-a_4_657,
author={Takuma WAKASA, Yoshiki NAGATANI, Kenji SAWADA, Seiichi SHIN, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons},
year={2020},
volume={E103-A},
number={4},
pages={657-667},
abstract={This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.},
keywords={},
doi={10.1587/transfun.2019EAP1108},
ISSN={1745-1337},
month={April},}
부
TY - JOUR
TI - Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 657
EP - 667
AU - Takuma WAKASA
AU - Yoshiki NAGATANI
AU - Kenji SAWADA
AU - Seiichi SHIN
PY - 2020
DO - 10.1587/transfun.2019EAP1108
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E103-A
IS - 4
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - April 2020
AB - This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.
ER -