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Control Schemes for Autonomous Car‐following Systems with two Classical Compensators
Author(s) -
Zhu WenXing,
Zhang LiDong
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1846
Subject(s) - control theory (sociology) , transfer function , compensation (psychology) , block diagram , stability (learning theory) , block (permutation group theory) , closed loop transfer function , function (biology) , computer science , mathematics , control (management) , engineering , psychology , geometry , electrical engineering , artificial intelligence , machine learning , evolutionary biology , psychoanalysis , biology
In this paper, we improve the dynamics of an autonomous car‐following system with two classical compensation methods: proportional‐differential (PD) and velocity feedback (VF) control methods. Based on an optimal velocity model, the system transfer function was derived and control block diagram was given with an open‐loop transfer function. Three theorems were proposed and proven with the use of small gain theorem. The analytical results show that two compensation factors play important roles in stabilizing the car‐following system. In the simulation, three dynamical models were derived in reverse from the closed‐loop transfer function and the numerical results show that, with increasing factors, the stability of car‐following was enhanced and traffic jams were eliminated. The analytical results are supported by the numerical results.