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

Weinan Gao; Zhong Ping Jiang

doi:10.1007/s10846-016-0395-3

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

Weinan Gao, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

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 language	English (US)
Pages (from-to)	597-611
Number of pages	15
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	85
Issue number	3-4
DOIs	https://doi.org/10.1007/s10846-016-0395-3
State	Published - Mar 1 2017

Keywords

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

ASJC Scopus subject areas

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

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10.1007/s10846-016-0395-3

Cite this

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title = "Nonlinear and Adaptive Suboptimal Control of Connected Vehicles: A Global Adaptive Dynamic Programming Approach",

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.",

keywords = "Adaptive dynamic programming (ADP), Connected vehicles, Cooperative adaptive cruise control (CACC), Nonlinear optimal control",

author = "Weinan Gao and Jiang, {Zhong Ping}",

note = "Funding Information: This work has been supported in part by the U.S. National Science Foundation grants ECCS-1230040 and ECCS-1501044. Publisher Copyright: {\textcopyright} 2016, Springer Science+Business Media Dordrecht.",

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doi = "10.1007/s10846-016-0395-3",

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T1 - Nonlinear and Adaptive Suboptimal Control of Connected Vehicles

T2 - A Global Adaptive Dynamic Programming Approach

AU - Gao, Weinan

AU - Jiang, Zhong Ping

N1 - Funding Information: This work has been supported in part by the U.S. National Science Foundation grants ECCS-1230040 and ECCS-1501044. Publisher Copyright: © 2016, Springer Science+Business Media Dordrecht.

PY - 2017/3/1

Y1 - 2017/3/1

N2 - 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.

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.

KW - Adaptive dynamic programming (ADP)

KW - Connected vehicles

KW - Cooperative adaptive cruise control (CACC)

KW - Nonlinear optimal control

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

Abstract

Keywords

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