Investigation of the behavior of adaptively controlled platoons with unmodeled loads

J. Tar, Katalin Lorincz, Krishnan Agbemasu, László Nádai, Roland Kovács

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Regarding the behavior of vehicles in roadway traffic typical classes can be identified for individually driven cars showing "collective saturation" features as the capacities of the road are almost maximally utilized, and for the organized group of cars or lorries operating as "platoons". The present paper is devoted to modeling and analyzing the behavior of a platoon that is formed of semi-automated vehicles and behaves like a virtual train. Each member has local controller trained for keeping a safe tracking distance between itself and the preceding member of the group. In the model investigated the connection between the vehicles acts like an elastic spring with the distinction that no "reaction forces" are applied: the (n + 1)th member's motion is influenced by that of the n th member but the members do not affect the motion of the preceding ones. The aim is to guarantee the possible smoothest motion for the last element of the train that may be followed by various participants of the road communication whose driving comfort has to be kept in mind. For this purpose in this paper the first member's motion is directly controlled while the other members trail their preceding cart according to this automated tracking mechanism. The carts are approximately modeled as rigid bodies while their loads are represented by masses connected to the appropriate carts by elastic springs having dynamic friction. The dynamic interaction between the loads and the carts are not modeled by the controllers and the main task of the adaptive control is to compensate the effects of the modeling errors and that of the abandoned loads. It is shown via computer simulation that the novel, geometrically interpreted adaptive control elaborated at Budapest Tech in the past few years can successfully solve this complicated task and can reduce the jogging of the load of the carts.

Original languageEnglish
Title of host publicationLINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings
Pages137-142
Number of pages6
DOIs
Publication statusPublished - 2007
EventLINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007 - Wildau, Germany
Duration: Sep 13 2007Sep 15 2007

Other

OtherLINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007
CountryGermany
CityWildau
Period9/13/079/15/07

Fingerprint

Railroad cars
Controllers
Friction
Communication
Computer simulation

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

Cite this

Tar, J., Lorincz, K., Agbemasu, K., Nádai, L., & Kovács, R. (2007). Investigation of the behavior of adaptively controlled platoons with unmodeled loads. In LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings (pp. 137-142). [4343527] https://doi.org/10.1109/LINDI.2007.4343527

Investigation of the behavior of adaptively controlled platoons with unmodeled loads. / Tar, J.; Lorincz, Katalin; Agbemasu, Krishnan; Nádai, László; Kovács, Roland.

LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings. 2007. p. 137-142 4343527.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Lorincz, K, Agbemasu, K, Nádai, L & Kovács, R 2007, Investigation of the behavior of adaptively controlled platoons with unmodeled loads. in LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings., 4343527, pp. 137-142, LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Wildau, Germany, 9/13/07. https://doi.org/10.1109/LINDI.2007.4343527
Tar J, Lorincz K, Agbemasu K, Nádai L, Kovács R. Investigation of the behavior of adaptively controlled platoons with unmodeled loads. In LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings. 2007. p. 137-142. 4343527 https://doi.org/10.1109/LINDI.2007.4343527
Tar, J. ; Lorincz, Katalin ; Agbemasu, Krishnan ; Nádai, László ; Kovács, Roland. / Investigation of the behavior of adaptively controlled platoons with unmodeled loads. LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings. 2007. pp. 137-142
@inproceedings{9373e101e4414c34b72b4a5699b30864,
title = "Investigation of the behavior of adaptively controlled platoons with unmodeled loads",
abstract = "Regarding the behavior of vehicles in roadway traffic typical classes can be identified for individually driven cars showing {"}collective saturation{"} features as the capacities of the road are almost maximally utilized, and for the organized group of cars or lorries operating as {"}platoons{"}. The present paper is devoted to modeling and analyzing the behavior of a platoon that is formed of semi-automated vehicles and behaves like a virtual train. Each member has local controller trained for keeping a safe tracking distance between itself and the preceding member of the group. In the model investigated the connection between the vehicles acts like an elastic spring with the distinction that no {"}reaction forces{"} are applied: the (n + 1)th member's motion is influenced by that of the n th member but the members do not affect the motion of the preceding ones. The aim is to guarantee the possible smoothest motion for the last element of the train that may be followed by various participants of the road communication whose driving comfort has to be kept in mind. For this purpose in this paper the first member's motion is directly controlled while the other members trail their preceding cart according to this automated tracking mechanism. The carts are approximately modeled as rigid bodies while their loads are represented by masses connected to the appropriate carts by elastic springs having dynamic friction. The dynamic interaction between the loads and the carts are not modeled by the controllers and the main task of the adaptive control is to compensate the effects of the modeling errors and that of the abandoned loads. It is shown via computer simulation that the novel, geometrically interpreted adaptive control elaborated at Budapest Tech in the past few years can successfully solve this complicated task and can reduce the jogging of the load of the carts.",
author = "J. Tar and Katalin Lorincz and Krishnan Agbemasu and L{\'a}szl{\'o} N{\'a}dai and Roland Kov{\'a}cs",
year = "2007",
doi = "10.1109/LINDI.2007.4343527",
language = "English",
isbn = "1424414415",
pages = "137--142",
booktitle = "LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings",

}

TY - GEN

T1 - Investigation of the behavior of adaptively controlled platoons with unmodeled loads

AU - Tar, J.

AU - Lorincz, Katalin

AU - Agbemasu, Krishnan

AU - Nádai, László

AU - Kovács, Roland

PY - 2007

Y1 - 2007

N2 - Regarding the behavior of vehicles in roadway traffic typical classes can be identified for individually driven cars showing "collective saturation" features as the capacities of the road are almost maximally utilized, and for the organized group of cars or lorries operating as "platoons". The present paper is devoted to modeling and analyzing the behavior of a platoon that is formed of semi-automated vehicles and behaves like a virtual train. Each member has local controller trained for keeping a safe tracking distance between itself and the preceding member of the group. In the model investigated the connection between the vehicles acts like an elastic spring with the distinction that no "reaction forces" are applied: the (n + 1)th member's motion is influenced by that of the n th member but the members do not affect the motion of the preceding ones. The aim is to guarantee the possible smoothest motion for the last element of the train that may be followed by various participants of the road communication whose driving comfort has to be kept in mind. For this purpose in this paper the first member's motion is directly controlled while the other members trail their preceding cart according to this automated tracking mechanism. The carts are approximately modeled as rigid bodies while their loads are represented by masses connected to the appropriate carts by elastic springs having dynamic friction. The dynamic interaction between the loads and the carts are not modeled by the controllers and the main task of the adaptive control is to compensate the effects of the modeling errors and that of the abandoned loads. It is shown via computer simulation that the novel, geometrically interpreted adaptive control elaborated at Budapest Tech in the past few years can successfully solve this complicated task and can reduce the jogging of the load of the carts.

AB - Regarding the behavior of vehicles in roadway traffic typical classes can be identified for individually driven cars showing "collective saturation" features as the capacities of the road are almost maximally utilized, and for the organized group of cars or lorries operating as "platoons". The present paper is devoted to modeling and analyzing the behavior of a platoon that is formed of semi-automated vehicles and behaves like a virtual train. Each member has local controller trained for keeping a safe tracking distance between itself and the preceding member of the group. In the model investigated the connection between the vehicles acts like an elastic spring with the distinction that no "reaction forces" are applied: the (n + 1)th member's motion is influenced by that of the n th member but the members do not affect the motion of the preceding ones. The aim is to guarantee the possible smoothest motion for the last element of the train that may be followed by various participants of the road communication whose driving comfort has to be kept in mind. For this purpose in this paper the first member's motion is directly controlled while the other members trail their preceding cart according to this automated tracking mechanism. The carts are approximately modeled as rigid bodies while their loads are represented by masses connected to the appropriate carts by elastic springs having dynamic friction. The dynamic interaction between the loads and the carts are not modeled by the controllers and the main task of the adaptive control is to compensate the effects of the modeling errors and that of the abandoned loads. It is shown via computer simulation that the novel, geometrically interpreted adaptive control elaborated at Budapest Tech in the past few years can successfully solve this complicated task and can reduce the jogging of the load of the carts.

UR - http://www.scopus.com/inward/record.url?scp=39749084576&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=39749084576&partnerID=8YFLogxK

U2 - 10.1109/LINDI.2007.4343527

DO - 10.1109/LINDI.2007.4343527

M3 - Conference contribution

AN - SCOPUS:39749084576

SN - 1424414415

SN - 9781424414413

SP - 137

EP - 142

BT - LINDI 2007 - International Symposium on Logistics and Industrial Informatics 2007, Proceedings

ER -