Wave-absorbing vehicular platoon controller

DOI10.1016/J.EJCON.2014.06.001zbMATH Open1360.93045arXiv1311.2095OpenAlexW2082477283MaRDI QIDQ522745FDOQ522745

Authors: Dan Martinec, Ivo Herman, Zdeněk Hurák, Michael Sebek 

Publication date: 19 April 2017

Published in: European Journal of Control (Search for Journal in Brave)

Abstract: The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control algorithm with a wave-absorbing controller implemented on the leader, and/or on the rear-end vehicle. The wave-absorbing controller actively absorbs an incoming wave of positional changes in the platoon and thus prevents oscillations of inter-vehicle distances. The proposed controller significantly improves the performance of platoon manoeuvrers such as acceleration/deceleration or changing the distances between vehicles without making the platoon string unstable. Numerical simulations show that the wave-absorbing controller performs efficiently even for platoons with a large number of vehicles, for which other platooning algorithms are inefficient or require wireless communication between vehicles.

Full work available at URL: https://arxiv.org/abs/1311.2095

Recommendations

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zbMATH Keywords

wave transfer functionbidirectional controlplatoon of vehicleswave absorptionwave-based control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Decentralized systems (93A14) Application models in control theory (93C95)

Cites Work

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Cited In (2)

• Transients of platoons with asymmetric and different Laplacians
• A travelling wave approach to a multi-agent system with a path-graph topology

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