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Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons
https://uec.repo.nii.ac.jp/records/9703
https://uec.repo.nii.ac.jp/records/970338dcab8c-1fef-4993-8705-68d8b66829bc
名前 / ファイル | ライセンス | アクション |
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Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons (2.7 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2020-11-25 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | multi-agent systems | |||||
キーワード | ||||||
言語 | en | |||||
主題 | pinning control | |||||
キーワード | ||||||
言語 | en | |||||
主題 | mixed logical dynamical system | |||||
キーワード | ||||||
言語 | en | |||||
主題 | model predictive control | |||||
キーワード | ||||||
言語 | en | |||||
主題 | platoon control | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
WAKASA, Takuma
× WAKASA, Takuma× NAGATANI, Yoshiki× SAWADA, Kenji× SHIN, Seiichi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 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. | |||||
書誌情報 |
en : IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences 巻 E103.A, 号 4, p. 657-667, 発行日 2020-04-01 |
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出版者 | ||||||
出版者 | The Institute of Electronics, Information and Communication Engineers | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 09168508 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1587/transfun.2019EAP1108 | |||||
権利 | ||||||
権利情報 | Copyright (c) 2020 IEICE | |||||
関連サイト | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://search.ieice.org/index.html | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |