Name
Abstract | ||
|---|---|---|
This paper investigates control design for the platoon of automated vehicles whose sensors have limited sensing capability. A novel hybrid platoon model is established, in which actuator delay (e.g., the fueling and braking delay) and the effect of sensing range limitation are involved. Based on the new model, a framework of guaranteed-cost controller design is presented, which can robustly stabilize the platoon of vehicles with a given level of disturbance attenuation. The obtained controller is complemented by additional conditions that were established to guarantee string stability and zero steady-state spacing error, yielding a useful string-stable platoon control algorithm. The effectiveness and advantage of the presented methodology is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/TVT.2012.2203362 | IEEE T. Vehicular Technology |
Keywords | Field | DocType |
Vehicles,Sensors,Delay,Numerical stability,Stability analysis,Acceleration,Uncertainty | Control theory,Platoon,Control theory,Computer science,Control engineering,Arduino,Acceleration,Control system,Robust control,Numerical stability,Actuator | Journal |
Volume | Issue | ISSN |
61 | 7 | 0018-9545 |
Citations | PageRank | References |
32 | 1.50 | 6 |
Authors | ||
2 | ||