Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario

• Published in: IET intelligent transport systems Vol. 15; no. 2; pp. 344 - 358
• Main Authors: Hu, Zhanyi, Yang, Zeyu, Huang, Jin, Zhong, Zhihua
• Format: Journal Article
• Language: English
• Published: Wiley 01.02.2021
• Subjects: Algebra; Control system analysis and synthesis methods; Self‐adjusting control systems; Spatial variables control; Stability in control theory; Traffic engineering computing

This paper aims at utilising the ideology of controlling a constrained dynamical system to address the longitudinal motion control problem during lane‐changing process subject to time‐varying uncertainties. To this end, a robust controller is designed based on Udwadia–Kalaba (UK) approach and Lyapun...