Trajectory Tracking Control for Connected Vehicle Platoon Considering Time Delays
| Autor: | Changqiang Wu, Yongfu Li, Yuanyuan Li |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Lyapunov function
050210 logistics & transportation 0209 industrial biotechnology Computer science 05 social sciences Topology (electrical circuits) 02 engineering and technology Stability (probability) symbols.namesake Nonlinear system 020901 industrial engineering & automation Control theory Position (vector) 0502 economics and business symbols Trajectory Platoon |
| Zdroj: | 2018 Chinese Automation Congress (CAC). |
| Popis: | This study presents a trajectory tracking controller for a connected vehicle (CV) platoon. In particular, the bidirectional leader-follower communication topology is utilized to characterize the connections among CVs. Then, a distributed nonlinear trajectory tracking controller for follower vehicles is proposed by incorporating the car-following interactions between vehicles, time delays, spacing error and velocity difference with respect to the lead vehicle. In addition, the stability of the proposed controller is analyzed using the Lyapunov technique. Finally, simulations are performed for three scenarios: no time delays, homogeneous time delays, and heterogeneous time delays. The simulation results are provided to verify the effectiveness of the proposed controller in terms of the position trajectory, spacing error and velocity profiles. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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