Safe platooning and merging control using constructive barrier feedback

DOI10.1016/J.EJCON.2024.101060MaRDI QIDQ6652222zbMATH OpenFDO

Authors Xiao Chen, Zhiqi Tang, Karl Henrik Johansson, Jonas Mårtensson

Publication date 12 December 2024

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

zbMATH Keywords

collision avoidanceconnected and automated vehiclesplatoon formation controlconstructive barrier feedbackmulti-vehicle cooperative control

Mathematics Subject Classification ID

Feedback control (93B52) Asymptotic stability in control theory (93D20) Multi-agent systems (93A16)

Recommendations

• Hierarchical lane-changing control for vehicle platoons in prescribed performance
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Cites work

• Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
• Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads

Cited in

(5)

• Safe-by-construction autonomous vehicle overtaking using control barrier functions and model predictive control
• Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
• Hierarchical lane-changing control for vehicle platoons in prescribed performance
• Constraint-driven multilane merging control for underactuated connected and automated vehicle system with mismatched uncertainty
• IBLF‐based lanes merging control for vehicle platoon with prescribed performances

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