Nonlinear Multi-Layer Consensus Seeking of Vehicular Platoons
conference paper
In this paper, non-linear estimators and feedforward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to study different methods to compute this information. In this work, sliding mode algorithms are employed to generate the desired trajectories and also to compute the feed-forward control input of each vehicle. In this way, a velocity-dependent inter-vehicle spacing policy can be realized without using derivatives of the vehicular acceleration to compute the feed-forward input. Furthermore, a full-state feedback implementation scheme is discussed. The vehicles are modeled with heterogeneous linear longitudinal dynamics. The proposed algorithms are validated through experiments on automated cars.
Topics
TNO Identifier
776760
Publisher
Institute of Electrical and Electronics Engineers Inc.
Source title
5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017. 26 June 2017 through 28 June 2017
Collation
6 p.
Files
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