Computation of worst-case spacing errors of vehicle platoons based on a skew-μ method∗∗This paper was supported by the János Bolyai Research Scholarship of the Hungarian Academy of Sciences

Autor:	G. J. Varga, Gábor Rödönyi
Rok vydání:	2015
Předmět:	Vehicle dynamics Control and Systems Engineering Robustness (computer science) Control theory Computer science Computation Numerical analysis Skew Platoon Network topology
Zdroj:	IFAC-PapersOnLine. 48:420-425
ISSN:	2405-8963
DOI:	10.1016/j.ifacol.2015.09.493
Popis:	A numerical method is presented for the computation of spacing error bounds in vehicle platoons. The resulted bounds can be applied to evaluate performance of specific platoon control algorithms. The upper bound calculation is based on the computation of worst-case induced L 2 -gains of systems defined between the disturbance inputs to the leader vehicle and the spacing errors of the follower vehicles. The worst-case is defined subject to heterogeneity in the vehicle dynamics. The method is applicable both in the frequency- and the time-domain. The latter enables the extension of robustness analysis to a wider class of uncertainties and communication topologies. The method is illustrated on a numerical example with leader and predecessor following control architecture.
Databáze:	OpenAIRE
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