Title
Consensus Control for Vehicular Platooning With Velocity Constraints
Author
Zegers, J.C.
Semsar Kazerooni, E.
Ploeg, J.
van de Wouw, N.
Nijmeijer, H.
Publication year
2017
Abstract
In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a threevehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless intervehicle communication and radarbased sensing.
Subject
Fluid & Solid Mechanics
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Traffic
Mobility
Consensus
Distributed control
Intelligent transportation systems
Vehicular platooning
Velocity constraint
To reference this document use:
http://resolver.tudelft.nl/uuid:e7aaa3ed-876f-48b7-8aa4-b4409139bee0
TNO identifier
775950
Publisher
Institute of Electrical and Electronics Engineers Inc.
ISSN
1063-6536
Source
IEEE Transactions on Control Systems Technology
Article number
7972982
Document type
article