A decentralized lateral-longitudinal controller for a platoon of vehicles operating on a plane

Author

Khatir, Maziar E. ; Davison, Edward J.

Author_Institution

Dept. of Electr. & Comput. Eng., Toronto Univ., Ont.

fYear

2006

fDate

14-16 June 2006

Abstract

This paper studies the decentralized control of a platoon of identical vehicles which are moving on a plane, where each vehicle is assumed to have steering dynamics; each vehicle in this case is assumed to be described by a 6^th order model and has two inputs: traction force and steering angle. Special cases such as a "side-tracking" formation with decentralized coordinated lateral-longitudinal control is studied. An example of a 10-vehicle platoon which is controlled to "sweep a field" is included to illustrate the results which can be obtained

Keywords

decentralised control; road vehicles; steering systems; vehicle dynamics; coordinated lateral-longitudinal control; decentralized control; decentralized lateral-longitudinal controller; identical vehicle platoon; side-tracking formation; steering angle; steering dynamics; traction force; Automated highways; Automatic control; Closed loop systems; Communication system control; Control systems; Stability; Transportation; Vehicle dynamics; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657665

Filename

1657665