|Title:||Control of Heterogeneous Platoons Using a Delay-Based Spacing Policy||Authors:||Horn, Joachim
|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||Abstract:||
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)|
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