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Design, Analysis, a...
Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delays
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- di Bernardo, M. (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II,University of Bristol
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Salvi, A. (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II
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- Santini, S. (författare)
- Universita Degli Studi Di Napoli Federico Ii,University of Naples Federico II
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2016
- 2016
- Engelska.
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Ingår i: IEEE Transactions on Control Systems Technology. - : Institute of Electrical and Electronics Engineers (IEEE). - 1063-6536 .- 1558-0865. ; 24:2, s. 413-427
- Relaterad länk:
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http://dx.doi.org/10...
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https://research.cha...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents a novel control design framework for vehicle platooning together with its experimental validation. The problem of controlling the vehicles within a platoon, so that they converge to their desired velocities and intervehicle distances, is formulated as a high-order network consensus problem. By means of Lyapunov-Razumikhin functions, convergence is proven of the platoon to the desired consensus speed and intervehicle spacing under both fixed and switching communication network topologies, thus confirming the capability of the proposed approach to cope with maneuvers where vehicles join or leave the platoon and communication failures. Tuning criteria for the control gains are provided to guarantee string stability under the proposed control law. Finally, results of numerical simulations and in-vehicle experiments demonstrate the effectiveness of the proposed approach in a three-vehicle platoon.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
Nyckelord
- cooperative driving challenge
- Automation & Control Systems
- switching topology
- leader-following consensus
- automated vehicles
- control
- networks
- stability
- Engineering
- vehicle
- intelligent vehicles
- Automotive applications
- communication delays
- multiagent
- switching topology
- systems
- longitudinal
- delay
- consensus control
- disturbance propagation
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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