Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons

Takuma WAKASA; Yoshiki NAGATANI; Kenji SAWADA; Seiichi SHIN

doi:10.1587/transfun.2019EAP1108

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Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons

Takuma WAKASA, Yoshiki NAGATANI, Kenji SAWADA, Seiichi SHIN

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This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E103-A No.4 pp.657-667

Publication Date: 2020/04/01

Publicized

Online ISSN: 1745-1337

DOI: 10.1587/transfun.2019EAP1108

Type of Manuscript: PAPER

Category: Systems and Control

Authors

Takuma WAKASA
  The University of Electro-Communications
Yoshiki NAGATANI
  The University of Electro-Communications
Kenji SAWADA
  The University of Electro-Communications
Seiichi SHIN
  The University of Electro-Communications

Keyword

multi-agent systems, pinning control, mixed logical dynamical system, model predictive control, platoon control

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Takuma WAKASA, Yoshiki NAGATANI, Kenji SAWADA, Seiichi SHIN, "Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons" in IEICE TRANSACTIONS on Fundamentals, vol. E103-A, no. 4, pp. 657-667, April 2020, doi: 10.1587/transfun.2019EAP1108.
Abstract: This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2019EAP1108/_p

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@ARTICLE{e103-a_4_657,
author={Takuma WAKASA, Yoshiki NAGATANI, Kenji SAWADA, Seiichi SHIN, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons},
year={2020},
volume={E103-A},
number={4},
pages={657-667},
abstract={This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.},
keywords={},
doi={10.1587/transfun.2019EAP1108},
ISSN={1745-1337},
month={April},}

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TY - JOUR
TI - Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 657
EP - 667
AU - Takuma WAKASA
AU - Yoshiki NAGATANI
AU - Kenji SAWADA
AU - Seiichi SHIN
PY - 2020
DO - 10.1587/transfun.2019EAP1108
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E103-A
IS - 4
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - April 2020
AB - This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value.
ER -