Direct adaptive longitudinal control of vehicle platoons

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An important aspect of an automated highway system design is the synthesis of an automatic vehicle following system, Associated with automatic vehicle following systems is the problem of the stability of a string of vehicles, i,e,, the problem of spacing error propagation, and in some cases, amplification upstream from one vehicle to another, due to some disturbance at the head of the string. Realistic vehicle following designs must also address parametric uncertainties such as mass of the vehicle, aerodynamic drag, and tire drag, The mass of the vehicle varies with the number of passengers. At small intervehicular separations, aerodynamic drag force changes significantly with the distance to be maintained, In this paper, we address the problem of stability of a vehicle string in the presence of parametric uncertainty and present a Lyapunov-based decentralized adaptive control algorithm to compensate for such parametric variations, We examine this direct adaptive control algorithm for platoon performance and parameter convergence. We present the simulation results to demonstrate the effectiveness of the adaptive controller.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2001-01
Language
English
Article Type
Article
Keywords

SYSTEMS

Citation

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, v.50, no.1, pp.150 - 161

ISSN
0018-9545
DOI
10.1109/25.917908
URI
http://hdl.handle.net/10203/83639
Appears in Collection
ME-Journal Papers(저널논문)
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