Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 62, Issue 9, Pages 4376-4391Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2017.2682421
Keywords
Vehicle platoons; String stability; Cascaded systems; Stability of nonlinear systems
Funding
- European Union Seventh Framework Programme under the project COMPANION
- Swedish Research Council
- Knut and Alice Wallenberg Foundation
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A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired intervehicular distance between vehicles and guarantees that all vehicles track the same spatially varying reference velocity profile, as is for example required for heavy-duty vehicles driving over hilly terrain. Disturbance string stability is a notion of string stability of vehicle platoons subject to external disturbances on all vehicles that guarantees that perturbations do not grow unbounded as they propagate through the platoon. Specifically, a control design approach in the spatial domain is presented that achieves tracking of the desired spacing policy and guarantees disturbance string stability with respect to a spatially varying reference velocity. The results are illustrated by means of simulations.
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