As a kind of flexible and under actuated systems which based on cooperative vehicle infrastructure system (CVIS), autonomous tractor-semi trailer platoon in vehicle networking can enhance the information interaction and controllability of safety. Establish the two degree of freedom model of tractor-semi trailer firstly. Then, we analysis dominant factor and equilibrium point for the under actuated physics system's stability including its coordination evolution rule. Space-time mathematical model was established based on the dynamic observation information during vehicle platoon driving. μ- Synthesis robust controller was designed to deal with real time conditions, for example, following, lane changing and obstacles avoiding. The parameters of autonomous under actuated platoon controller can be adjusted on-line by fuzzy rules. Finally, we verify robust stability and dynamic performance of autonomous under actuated platoon tracking controller by the computation simulation method.
Xinjiang Academy of Communication Science, Urumqi 830000, China;Harbin Institute of Technology, School of Transportation Science and Engineering, Harbin 150090, China;Xinjiang Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Urumqi 830011, China
Zhang, Ronghui,Liu, Tao,Pei, Yulong,et al. Control dominant factors analysis for under-actuated vehicle platoon stability system[J]. Key Engineering Materials,2014,579-580(1):626-629.