Neighborhood Controller-Local Observer in Adaptive Control Approach for Heterogeneous Vehicle Platoon Formation

Prayitno, Agung and Indrawati, Veronica and Yusuf, Yohanes Gunawan (2023) Neighborhood Controller-Local Observer in Adaptive Control Approach for Heterogeneous Vehicle Platoon Formation. In: 2023 International Seminar on Intelligent Technology and Its Applications (ISITIA), 26-27 July 2023, Surabaya, Indonesia.

PDF Paper_IEEE.pdf Download (352kB)

Abstract

This paper studies a distributed model reference adaptive control which designed based on neighborhood controller-local observer. The controller will be applied in each follower which has limited-output information and uncertainty. The proposed control composes of four main parts, namely local observer, reference model, adaptive controller and neighborhood controller. Local observer is used to obtain full-state estimation of each follower by utilizing the internal output estimation error. While, the rest of the control parts responsible for simultaneously eliminate the effects of the uncertainty and tracking the leader state. The proposed control will be simulated by using heterogeneous vehicle platoon under two-predecessorfollowing-leader topology. Simulation results show that both the state estimation error and the tracking error to the reference model are approach zero as time approaches infinity and the platoon formation is achieved.

Item Type:	Conference or Workshop Item (Paper)
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Engineering > Department of Electrical Engineering
Depositing User:	Agung Prayitno 204037
Date Deposited:	28 Aug 2023 02:44
Last Modified:	26 Sep 2023 03:47
URI:	http://repository.ubaya.ac.id/id/eprint/44870

Actions (login required)

View Item