Platooning merging maneuvers in the presence of parametric uncertainty

Simone Baldi, Muhammad Ridho Rosa, Paolo Frasca, Elias B. Kosmatopoulos

    Research output: Contribution to journalArticleAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is instantiated, which must be handled in a suitable way. Ideas used to handle this situation and corresponding results are illustrated using a platoon of three vehicles implementing a merging maneuver.

    Original languageEnglish
    Pages (from-to)148-153
    Number of pages6
    JournalIFAC-papersonline
    Volume51
    Issue number23
    DOIs
    Publication statusPublished - 1 Jan 2018

    Keywords

    • adaptive control
    • Adaptive synchronization
    • heterogeneous uncertain agents

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