オンライン調整を伴う2自由度構成による隊列走行車両の縦方向制御

抄録

Platooning of vehicles is expected to be a solution for drivers shortage, traffic congestion, and thereby to reduce gas emission. In this technique, it is critically important to ensure a good response to the velocity change of the leader vehicle, as well as robustness against uncertainty and disturbance. To this end, we propose an adaptive two degree-of-freedom control method based on feedback error learning (FEL) in this paper. In this method, plant uncertainty is addressed by online tuning of feedforward controller by means of input and output signals of the plant. Robust FB control also addresses uncertainty/disturbance of the system. Numerical simulation and real-machine experiment have been carried out to verify effectiveness of the proposed method.