Robust Intelligent Backstepping Longitudinal Control of Vehicle Platoons with H Tracking Performance

2006 ◽  
Author(s):  
Ya-Fu Peng ◽  
Chun-Fei Hsu ◽  
Chih-Min Lin ◽  
Tsu-Tian Lee
Keyword(s):  
Tracking Performance ◽  
Longitudinal Control ◽  
Vehicle Platoons

Emergency Control of Vehicle Platoons: Control of Following-Law Vehicles

1976 ◽  
Vol 98 (3) ◽  
pp. 239-244 ◽  
Author(s):  
R. J. Rouse ◽  
L. L. Hoberock
Keyword(s):  
Emergency Operation ◽  
Dynamical Analysis ◽  
Normal Operation ◽  
Target Velocity ◽  
Longitudinal Control ◽  
Emergency Control ◽  
Vehicle System ◽  
Design Speed ◽  
Vehicle Platoons

This work presents a dynamical analysis of platooned following-law vehicles under longitudinal control proposed in [1]. It is shown that controller gains selected for normal operation give inadequate performance in emergency operation. Dangerous spacing in platoons moving at lower than design speed and delayed target velocity update effects are investigated. Stability of the vehicle system in emergency operation is related to controller gains, and simulations for various emergency contingencies are presented.

Vehicle-Follower Control for Dynamic Entrainment of Automated Guideway Transit Vehicles

1979 ◽  
Vol 101 (4) ◽  
pp. 314-320 ◽  
Author(s):  
S. E. Shladover
Keyword(s):  
Control System ◽  
Asymptotic Stability ◽  
Response Speed ◽  
Continuous Functions ◽  
Control Law ◽  
Longitudinal Control ◽  
Linear Controller ◽  
Vehicle Platoons ◽  
Nonlinear Control Law ◽  
Disturbance Estimator

This paper describes a method of vehicle-follower longitudinal control which has been developed to enable automated guideway transit (AGT) vehicles to join (entrain) and leave (extrain) trains or close-formation platoons (at 30 cm spacings) while traveling at cruise speed. Because a linear controller cannot be designed to have the accuracy and response speed needed for operations at very close inter-vehicular spacings without producing excessive control action at large spacings, the suggested controller is a nonlinear vehicle follower in which the gains are continuous functions of the spacing between the vehicles. The nonlinear control law is defined and its simulated behavior in a typical dynamic entrainment is shown. Sample simulated responses of nine-vehicle platoons demonstrate the asymptotic stability which the control system must have to be applicable for long platoons. The use of a disturbance estimator to resist external force loadings and the implementation of the control system using sampled, smoothed data are explained and demonstrated via simulation.

Direct adaptive longitudinal control of vehicle platoons

2001 ◽  
Vol 50 (1) ◽  
pp. 150-161 ◽  
Author(s):  
D. Swaroop ◽  
J.K. Hedrick ◽  
S.B. Choi
Keyword(s):  
Longitudinal Control ◽  
Vehicle Platoons
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