Title :
Robust platoon-stable controller design for autonomous intelligent vehicles
Author :
Stotsky, A. ; Chien, C.C. ; Ioannou, P.
Author_Institution :
Dept. of Electr. Eng. Syst., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
A new variable structure longitudinal controller is designed and analyzed for an autonomous intelligent vehicle. The proposed controller not only guarantees individual vehicle stability but also platoon stability. Moreover, the achieved platoon stability is proven to be robust with respect to vehicle parameter uncertainties and unknown time varying disturbances. Explicit transient bounds are obtained which indicate ways of choosing controller parameters for comfortable driving
Keywords :
intelligent control; road vehicles; robust control; time-varying systems; variable structure systems; autonomous intelligent vehicles; comfortable driving; controller parameters; robust platoon-stable controller design; unknown time-varying disturbances; variable structure longitudinal controller; vehicle parameter uncertainties; Aerodynamics; Asymptotic stability; Electric variables control; Intelligent vehicles; Mobile robots; Remotely operated vehicles; Robust control; Uncertain systems; Vehicle dynamics; Vehicle safety;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411449
