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Platoon Control und...
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Köroglu, Hakan,1971Chalmers tekniska högskola,Chalmers University of Technology
(author)
Platoon Control under a Novel Leader and Predecessor Following Scheme with the Use of an Advanced Aerodynamic Model
- Article/chapterEnglish2018
Publisher, publication year, extent ...
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2017-11-10
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ASME International,2018
Numbers
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LIBRIS-ID:oai:research.chalmers.se:761b6f42-ee66-4381-996e-6aa4c0f771de
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https://doi.org/10.1115/1.4037655DOI
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https://research.chalmers.se/publication/501296URI
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https://research.chalmers.se/publication/251791URI
Supplementary language notes
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Language:English
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Summary in:English
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Classification
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Subject category:art swepub-publicationtype
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Subject category:ref swepub-contenttype
Notes
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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.
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Added entries (persons, corporate bodies, meetings, titles ...)
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Mirzaei, Maryam,1982Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)marmir
(author)
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Falcone, Paolo,1977Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)falcone
(author)
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Krajnovic, Sinisa,1970Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)sinisa
(author)
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Chalmers tekniska högskola
(creator_code:org_t)
Related titles
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In:Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME: ASME International140:40022-04341528-9028
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