Show simple item record

dc.contributor.author
Mamduhi, Mohammad H.
dc.contributor.author
Hashemi, Ehsan
dc.date.accessioned
2023-11-23T12:42:10Z
dc.date.available
2023-11-23T04:41:26Z
dc.date.available
2023-11-23T12:42:10Z
dc.date.issued
2023-10
dc.identifier.issn
2378-9638
dc.identifier.issn
2378-962X
dc.identifier.other
10.1145/3625562
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/643331
dc.description.abstract
In this article, we investigate the vehicle path-following problem for a vehicle-to-vehicle (V2V)-enabled leader-follower scenario and propose an integrated control policy for the following vehicle to accurately follow the leader's path. We propose a control strategy for the follower vehicle to maintain a velocity-dependent distance relative to the leader vehicle while stabilizing its longitudinal and lateral dynamics considering the combined-slip effect and tire force saturation. In light of reducing wireless communication errors and efficient usage of battery power and resources, we propose an intermittent V2V communication in which transmissions are scheduled based on an event-triggered law. An event is triggered and a transmission is scheduled in subsequent sample time if some of the well-defined path-following error functions (relative distance error and lateral error) exceed given tolerance bounds. Considering that the V2V communication channel might be erroneous or a transmission fails due to, e.g., vehicles' distance or low battery power, we consider data loss in the V2V channel. Our proposed control law consists of two components: a receding horizon feedback controller with state constraints based on a safe operation envelop and a feedforward controller that generates complementary control inputs when the leader's states are successfully communicated to the follower. To mitigate the effects of data loss on the follower's path-following performance, we design a remote estimator for the follower to predict the leader's state using its on-board sensor equipment when an event is triggered but the corresponding state information is not received by the follower due to a packet loss. Incorporating this estimator allows the follower to apply cautionary control inputs knowing that the path-following error had exceeded a tolerance bound. We show that while the feedback controller stabilizes the follower's dynamics, the feedforward component improves the safety margins and reduces the path-following errors even in the presence of data loss. High-fidelity simulations are performed using CarSim to validate the effectiveness of our proposed control architecture specifically in harsh maneuvers and high-slip scenarios on various road surface conditions.
en_US
dc.language.iso
en
en_US
dc.publisher
Association for Computing Machinery
en_US
dc.subject
Path-following control
en_US
dc.subject
V2V communication
en_US
dc.subject
Model predictive control (MPC)
en_US
dc.subject
Feedforward control
en_US
dc.title
Event-Triggered Control with Intermittent Communications over Erasure Channels for Leader-Follower Problems with the Combined-Slip Effect
en_US
dc.type
Journal Article
dc.date.published
2023-10-14
ethz.journal.title
ACM Transactions on Cyber-Physical Systems
ethz.journal.volume
7
en_US
ethz.journal.issue
4
en_US
ethz.pages.start
29
en_US
ethz.size
25 p.
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.status
published
en_US
ethz.date.deposited
2023-11-23T04:41:27Z
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2023-11-23T12:42:11Z
ethz.rosetta.lastUpdated
2024-02-03T06:54:01Z
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Event-Triggered%20Control%20with%20Intermittent%20Communications%20over%20Erasure%20Channels%20for%20Leader-Follower%20Problems%20with%20the%20Combined-Slip%20Effect&rft.jtitle=ACM%20Transactions%20on%20Cyber-Physical%20Systems&rft.date=2023-10&rft.volume=7&rft.issue=4&rft.spage=29&rft.issn=2378-9638&2378-962X&rft.au=Mamduhi,%20Mohammad%20H.&Hashemi,%20Ehsan&rft.genre=article&rft_id=info:doi/10.1145/3625562&
 Search print copy at ETH Library

Files in this item

FilesSizeFormatOpen in viewer

There are no files associated with this item.

Publication type

Show simple item record