Wave-absorbing vehicular platoon controller

DOI10.1016/J.EJCON.2014.06.001MaRDI QIDQ522745zbMATH OpenOpenAlexFDO

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)

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

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)

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.

Recommendations

• Distributed adaptive control of nonlinear vehicular platoons
• Dynamics of a long platoon of cooperative adaptive cruise control vehicles
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• Cooperative extended state observer based control of vehicle platoons with arbitrarily small time headway

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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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