Nonlinear adaptive cruise control of vehicular platoons
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Publication:6040971
Abstract: The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive vehicles and their speeds. It is shown that the proposed novel controllers guarantee safety (collision avoidance) and bounded vehicle speeds by explicitly characterizing the set of allowable inputs. Moreover, we guarantee global asymptotic stability of the platoon to a desired configuration as well as string stability. Certain macroscopic properties are also investigated. The efficiency of the nonlinear adaptive cruise controllers is demonstrated by means of a numerical example.
Recommendations
- Distributed adaptive control of nonlinear vehicular platoons
- Dynamics of a long platoon of cooperative adaptive cruise control vehicles
- Non-linear MPC for longitudinal and lateral control of vehicle's platoon with insert and exit manoeuvres
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- Distributed adaptive control for vehicular platoon with unknown dead-zone inputs and velocity/acceleration disturbances
- Platoon speed receding horizon dynamic programming and nonlinear control
- Control of vehicle platoons for highway safety and efficient utility: consensus with communications and vehicle dynamics
- Nonlinear consensus-based autonomous vehicle platoon control under event-triggered strategy in the presence of time delays
- Cooperative optimal control for connected and automated vehicles platoon
- Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
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Cited in
(21)- Robust platoon-stable controller design for autonomous intelligent vehicles
- Neural adaptive sliding-mode control of a bidirectional vehicle platoon with velocity constraints and input saturation
- Non-linear MPC for longitudinal and lateral control of vehicle's platoon with insert and exit manoeuvres
- Nonlinear predictor-feedback cooperative adaptive cruise control of vehicles with nonlinear dynamics and input delay
- Distributed adaptive control of nonlinear vehicular platoons
- Sampling-based cooperative adaptive cruise control subject to communication delays and actuator lags
- Platoon speed receding horizon dynamic programming and nonlinear control
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