Leader-follower and cascade system based formation control of nonholonomic intelligent vehicles - 文章详情页

作者：

Guo, Chuang (Guo, Chuang.) | Qin, Jiali (Qin, Jiali.) | Ge, Yanrong (Ge, Yanrong.) | Chen, Yangzhou (Chen, Yangzhou.) (学者：陈阳舟)

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摘要：

This　paper　presents　a　new　framework　for　the　formation　control　of　nonholonomic　intelligent　vehicles　combining　the　leader-follower　and　cascade　system　together.　The　formation　model　is　obtained　based　on　the　leader-follower　approach.　The　controllers　are　designed　by　using　global　fast　terminal　sliding　mode　control　technique　for　the　leader　who　tracks　the　reference　trajectory　and　back-stepping　method　for　the　follower　to　keep　the　predetermined　formation　movement.　Furthermore,　the　leader　and　follower　of　intelligent　vehicles　can　be　treated　as　every　part　of　the　cascade　system,　which　relies　on　a　kind　of　multi-platform　information　fusion　technology　to　realize　communication　among　vehicles.　Simulation　results　show　the　correctness　and　effectiveness　of　the　algorithm.　©　2014　IEEE.

关键词：

Intelligent vehicle highway systems Sliding mode control Vehicles Vehicle to vehicle communications

作者机构：

[ 1 ] [Guo, Chuang]Beijing University of Technology, Beijing 100124, China
[ 2 ] [Qin, Jiali]Beijing University of Technology, Beijing 100124, China
[ 3 ] [Ge, Yanrong]Beijing University of Technology, Beijing 100124, China
[ 4 ] [Ge, Yanrong]Hebei Normal University, Shijiazhuang 050024, China
[ 5 ] [Chen, Yangzhou]Beijing University of Technology, Beijing 100124, China

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