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Platoon Control und...
Platoon Control under a Novel Leader and Predecessor Following Scheme with the Use of an Advanced Aerodynamic Model
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- Köroglu, Hakan, 1971 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Mirzaei, Maryam, 1982 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Falcone, Paolo, 1977 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Krajnovic, Sinisa, 1970 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2017-11-10
- 2018
- English.
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In: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. - : ASME International. - 0022-0434 .- 1528-9028. ; 140:4
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Abstract
Subject headings
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- The longitudinal platoon control problem is considered under a leader and predecessor following scheme with a novel velocity-dependent spacing policy. With this spacing policy, the steady-state inter-vehicle distances increase with increasing cruise velocity and more so for vehicles that are closer to the leader.} Since significant changes might be encountered in inter-vehicle distances during the travel due to the variations in the velocity of the leader, the problem is studied together with a more accurate modeling of aerodynamic effects within a platoon formation. Based on a standard feedback linearization approach, a dynamic output feedback synthesis problem is formulated with two H_infinity performance objectives. One of the performance objectives is linked to the string stability of the platoon formation, while the other can be shaped in a way to maintain small spacing errors without aggressive vehicle maneuvers. A synthesis procedure is then outlined based on linear matrix inequality optimization. The new control scheme is investigated for a three-vehicle platoon by using an advanced aerodynamic model developed based on extensive fluid dynamics simulations. It is observed in this investigation that a desirable platoon operation can be achieved even with a simple aerodynamic model, provided that the controller is designed in a way to ensure good disturbance attenuation. Nevertheless an accurate modeling of aerodynamic disturbances might be needed especially for the first vehicle after the leader when the cruising velocity varies over a wide range.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- string stability
- aerodynamic modeling
- LMI optimization
- vehicle platoons
- automated vehicle
- longitudinal control
- adaptive cruise control
- multi-objective optimal control
Publication and Content Type
- art (subject category)
- ref (subject category)
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