Title :
A Lyapunov function approach to longitudinal control of vehicles in a platoon
Author :
No, Tae Soo ; Chong, Kil-To ; Roh, Do-Hwan
Author_Institution :
Dept. of Aerosp. Eng., Chonbuk Nat. Univ., Chonju, South Korea
fDate :
1/1/2001 12:00:00 AM
Abstract :
The Lyapunov second method is used to derive a control law that can he used to control the spacing between vehicles in a platoon. A third-order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of “expected spacing error” is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law
Keywords :
Lyapunov methods; automated highways; multivariable control systems; road vehicles; spatial variables control; Lyapunov controller; Lyapunov function; Lyapunov second method; PID-type controller; advanced vehicle control systems; control law; expected spacing error; intelligent vehicle/highway systems; local communication link; longitudinal control; numerical simulation; performance; platoon; powertrain dynamics; third-order system; vehicle dynamics; vehicle spacing control; Acceleration; Accelerometers; Aerodynamics; Communication system control; Control systems; Intelligent vehicles; Lyapunov method; Power system modeling; Sliding mode control; Vehicle dynamics;
Journal_Title :
Vehicular Technology, IEEE Transactions on
