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 :
Mechatronics Res. Centre, Chonbuk Nat. Univ., Chonju, South Korea
Abstract :
The Lyapunov stability theorem is used to derive a control law which can be 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 which 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; position control; road traffic; stability; Lyapunov function; Lyapunov function approach; control law; expected spacing error; longitudinal vehicles control; powertrain dynamics modeling; third order system; vehicle modeling; vehicle platoon; vehicle spacing control; Acceleration; Accelerometers; Automatic voltage control; Communication system control; Control systems; Intelligent vehicles; Lyapunov method; Sliding mode control; Three-term control; Vehicle dynamics;
Conference_Titel :
Vehicular Technology Conference Proceedings, 2000. VTC 2000-Spring Tokyo. 2000 IEEE 51st
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5718-3
DOI :
10.1109/VETECS.2000.851474
