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

Hakan Koroglu; Paolo Falcone

doi:10.1109/CDC42340.2020.9304061

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

Hakan Koroglu, Paolo Falcone

Applied Mechanics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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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 language	English
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	https://doi.org/10.1109/CDC42340.2020.9304061
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
Volume	2020-December
ISSN (Print)	0743-1546

Conference

Conference	59th IEEE Conference on Decision and Control, CDC 2020
Abbreviated title	CDC 2020
Country/Territory	Korea, Republic of
City	Virtual, Jeju Island
Period	14/12/20 → 18/12/20

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10.1109/CDC42340.2020.9304061

Koroglu-2020-Platoon-control-based-on-predecessoFinal published version, 463 KBLicence: Taverne

Cite this

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title = "Platoon Control based on Predecessor and Delayed Leader Information via Minimized Headway Times",

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.",

author = "Hakan Koroglu and Paolo Falcone",

year = "2021",

month = jan,

day = "11",

doi = "10.1109/CDC42340.2020.9304061",

language = "English",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "IEEE",

pages = "2857--2862",

booktitle = "2020 59th IEEE Conference on Decision and Control, CDC 2020",

address = "United States",

note = "59th IEEE Conference on Decision and Control, CDC 2020, CDC 2020 ; Conference date: 14-12-2020 Through 18-12-2020",

}

Koroglu, H & Falcone, P 2021, Platoon Control based on Predecessor and Delayed Leader Information via Minimized Headway Times. in 2020 59th IEEE Conference on Decision and Control, CDC 2020., 9304061, Proceedings of the IEEE Conference on Decision and Control, vol. 2020-December, IEEE, pp. 2857-2862, 59th IEEE Conference on Decision and Control, CDC 2020, Virtual, Jeju Island, Korea, Republic of, 14/12/20. https://doi.org/10.1109/CDC42340.2020.9304061

Platoon Control based on Predecessor and Delayed Leader Information via Minimized Headway Times. / Koroglu, Hakan; Falcone, Paolo.

2020 59th IEEE Conference on Decision and Control, CDC 2020. IEEE, 2021. p. 2857-2862 9304061 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2020-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - 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.

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

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