Quadratic programming-based cooperative adaptive cruise control under uncertainty via receding horizon strategy

Basit Öğe Kaydı
dc.authoridCoskun, Serdar/0000-0002-7080-0340
dc.contributor.authorCoskun, Serdar
dc.contributor.authorHuang, Cong
dc.contributor.authorZhang, Fengqi
dc.date.accessioned2025-03-17T12:25:33Z
dc.date.available2025-03-17T12:25:33Z
dc.date.issued2021
dc.departmentTarsus Üniversitesi
dc.description.abstractCooperative longitudinal motion control can greatly contribute to safety, mobility, and sustainability issues in today's transportation systems. This article deals with the development of cooperative adaptive cruise control (CACC) under uncertainty using a model predictive control strategy. Specifically, uncertainties arising in the system are presented as disturbances acting in the system and measurement equations in a state-space formulation. We aim to design a predictive controller under a common goal (cooperative control) such that the equilibrium from initial condition of vehicles will remain stable under disturbances. The state estimation problem is handled by a Kalman filter and the optimal control problem is formulated by the quadratic programming method under both state and input constraints considering traffic safety, efficiency, as well as driving comfort. In the sequel, adopting the CACC system in four-vehicle platoon scenarios are tested via MATLAB/Simulink for cooperative vehicle platooning control under different disturbance realizations. Moreover, the computational effectiveness of the proposed control strategy is verified with respect to different platoon sizes for possible real-time deployment in next-generation cooperative vehicles.
dc.identifier.doi10.1177/0142331221992741
dc.identifier.endpage2911
dc.identifier.issn0142-3312
dc.identifier.issn1477-0369
dc.identifier.issue13
dc.identifier.scopus2-s2.0-85101249261
dc.identifier.scopusqualityQ2
dc.identifier.startpage2899
dc.identifier.urihttps://doi.org/10.1177/0142331221992741
dc.identifier.urihttps://hdl.handle.net/20.500.13099/1741
dc.identifier.volume43
dc.identifier.wosWOS:000682936300001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSage Publications Ltd
dc.relation.ispartofTransactions of The Institute of Measurement and Control
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WOS_20250316
dc.subjectQuadratic programming
dc.subjectmodel predictive control
dc.subjectcooperative adaptive cruise control
dc.subjectKalman filtering
dc.subjectuncertainty
dc.titleQuadratic programming-based cooperative adaptive cruise control under uncertainty via receding horizon strategy
dc.typeArticle

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu