Platoon Control based on Predecessor and Delayed Leader Information via Minimized Headway Times

Hakan Koroglu, Paolo Falcone

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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 languageEnglish
Title of host publication2020 59th IEEE Conference on Decision and Control, CDC 2020
PublisherIEEE
Pages2857-2862
Number of pages6
ISBN (Electronic)9781728174471
DOIs
Publication statusPublished - 11 Jan 2021
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: 14 Dec 202018 Dec 2020
Conference number: 59

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2020-December
ISSN (Print)0743-1546

Conference

Conference59th IEEE Conference on Decision and Control, CDC 2020
Abbreviated titleCDC 2020
CountryKorea, Republic of
CityVirtual, Jeju Island
Period14/12/2018/12/20

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