Title: Control of Heterogeneous Platoons Using a Delay-Based Spacing Policy
Authors: Horn, Joachim 
Seeland, Felix 
Miekautsch, Fritz
Fay, Alexander 
Language: eng
Subject (DDC): 620 Ingenieurwissenschaften
Issue Date: 2020
Publisher: Elsevier
Document Type: Conference Object
Journal / Series / Working Paper (HSU): IFAC-PapersOnLine
Volume: 53(2020)
Issue: 2
Page Start: 15281
Page End: 15287
Publisher Place: Amsterdam
Conference: 21st IFAC World Congress Berlin, Germany, 11–17 July 2020
A control design approach for heterogeneous platoons is derived that achieves tracking of the desired delay-based spacing policy. The delay-based spacing policy induces an identical spatially varying velocity reference for all vehicles of the platoon. Thus, the control law is derived in the spatial domain. For a heterogeneous platoon, with individual dynamics of each vehicle, the first step of the control design is an individual exact linearization of each vehicle dynamics that transforms the heterogeneous platoon into a homogeneous platoon, where all vehicles have identical dynamics with respect to the new input. Then, a well-known control design for homogeneous platoons may be applied. The results are illustrated by simulations.
Organization Units (connected with the publication): Automatisierungstechnik 
Publisher DOI: 10.1016/j.ifacol.2020.12.2478
Appears in Collections:3 - Reported Publications

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