Nonlinear Adaptive Cruise Control of Vehicular Platoons

Autor:	Karafyllis, Iasson, Theodosis, Dionysis, Papageorgiou, Markos
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: 34 pages, 14 figures, submitted to IEEE Transactions on Automatic Control for possible publication
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2007.07054 Zobrazit plný text záznamu View this record from Arxiv