Abstract
The platoon control problem is considered under a recently proposed leader and predecessor following scheme with a third-order vehicle dynamics. The scheme is investigated with a simple PD-type controller in the face of delayed leader information. It is shown that string stability can be achieved only when the headway parameter is chosen larger than the communication delay. The use of larger headway parameters is also shown to be necessary to avoid the amplification of the acceleration signals backward along the platoon. Guidelines are given for the choice of controller gains and the headway parameter in a way to achieve desirable platoon behavior.
Original language | English |
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Title of host publication | 2020 59th IEEE Conference on Decision and Control, CDC 2020 |
Publisher | IEEE |
Pages | 2857-2862 |
Number of pages | 6 |
ISBN (Electronic) | 9781728174471 |
DOIs | |
Publication status | Published - 11 Jan 2021 |
Event | 59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of Duration: 14 Dec 2020 → 18 Dec 2020 Conference number: 59 |
Publication series
Name | Proceedings of the IEEE Conference on Decision and Control |
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Volume | 2020-December |
ISSN (Print) | 0743-1546 |
Conference
Conference | 59th IEEE Conference on Decision and Control, CDC 2020 |
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Abbreviated title | CDC 2020 |
Country/Territory | Korea, Republic of |
City | Virtual, Jeju Island |
Period | 14/12/20 → 18/12/20 |
Keywords
- 2022 OA procedure