Decentralized control of a large platoon of vehicles operating on a plane with steering dynamics

Author

Khatir, Maziar E. ; Davidson, E.J.

Author_Institution

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

fYear

2005

fDate

8-10 June 2005

Firstpage

2159

Abstract

This paper studies the decentralized control of a large 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 6th order model and has two inputs: traction force and steering angle. A study of the string stability of the resulting platoon is made; in particular, it is shown that a decentralized controller consisting of non-identical controllers can be used to control the platoon such that it possesses string stability. An example of a 200-vehicle platoon is included to illustrate the results which can be obtained.

Keywords

automated highways; automobiles; closed loop systems; control system synthesis; decentralised control; vehicle dynamics; 6th order model; closed loop controllers; controller design; decentralized control; identical vehicles; large vehicle platoon; nonidentical controllers; nonlinear vehicle model; steering angle; steering dynamics; string stability; traction force; Automated highways; Automatic control; Control system synthesis; Control systems; Distributed control; Intelligent transportation systems; Road vehicles; Stability; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470290

Filename

1470290