Logitudinal Control of Platoon for Electric Vehicle Using Adaptive Neural Networks
| Authors: | Ohmori Hiromitsu, Keio University, Japan
Kayayama Makoto, Keio University, Japan
Ichikawa Kouji, Keio University, Japan
Oikawa Yoshitaka, Keio University, Japan |
|---|
| Topic: | 1.2 Adaptive and Learning Systems |
|---|
| Session: | Learning and Adaptive Control of Mechanical Structures |
|---|
| Keywords: | adaptive control, Neural Network, follow-up control, Nonlinear control systems, inverse dynamics cotnrol, electric vehicles |
|---|
Abstract
In AHS(Automated Highway Systems) project which is one of the ITS (IntelligentHighway Systems), the platoon control is developed. In this paper, a platoon controllaw based on Adaptive Neural Network (ANN) to lower level and Semi-AutonomousAdaptive Cruise Control (SAACC) to upper level is proposed. Moreover, there is ”Delay”with the communication and the sensor. We design their compensators, and did stabilityanalysis that takes those error into consideration. We confirmed that the closed loopsystem is stable, and confirmed the effectiveness in the numerical simulation.
