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

Volume

3

fYear

1994

Firstpage

2431

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CDC.1994.411449

Filename

411449