Title: Control of Heterogeneous Platoons Using a Delay-Based Spacing Policy
Authors: Horn, Joachim 
Seeland, Felix
Miekautsch, Fritz
Fay, Alexander 
Language: eng
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 - Publication references (only metadata)

Show full item record

CORE Recommender


checked on Dec 2, 2023

Google ScholarTM




Items in openHSU are protected by copyright, with all rights reserved, unless otherwise indicated.