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 | 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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