Vector Liapunov Function Approach to Longitudinal Control of Vehicles in a Platoon

An important aspect of an automated highway system design is the synthesis of an automated vehicle following system. Associated with automated vehicle following system is the problem of the stability of a string of vehicle, i.e., the problem of spacing error propagation, and in some cases, amplification upstream from one vehicle to another, due to some disturbance at the head of the string. In this paper, the novel method to determine the stability of a string of vehicle is established based on the vector Liapunov method. Based on the new results for the stability of string of vehicle, the controller is constructed by sliding mode control method. The stability domain of the controller parameters of the string of vehicles is enlarged.

[1]  K. Chu.  Decentralized Control of High-Speed Vehicular Strings , 1974 .

[2]  Srdjan S. Stankovic,et al.  Decentralized overlapping control of a platoon of vehicles , 2000, IEEE Trans. Control. Syst. Technol..

[3]  S. Shladover.  Advanced Vehicle Control Systems (AVCS) , 1990, Vehicle Electronics in the 90's: Proceedings of the International Congress on Transportation Electronics.

[4]  J. G. Bender,et al.  An overview of systems studies of automated highway systems , 1991 .

[5]  Charles A. Desoer,et al.  Control of interconnected nonlinear dynamical systems: the platoon problem , 1992 .

[6]  Alain L. Kornhauser,et al.  STATE-OF-THE-ART OF LONGITUDINAL CONTROL OF AUTOMATED GUIDEWAY TRANSIT VEHICLES , 1978 .

[7]  Jiye Zhang.  Globally exponential stability of neural networks with variable delays , 2003 .

[8]  J. Hedrick,et al.  String stability of interconnected systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[9]  Steven E Shladover.  LONGITUDINAL CONTROL OF AUTOMOTIVE VEHICLES IN CLOSE-FORMATION PLATOONS , 1989 .

[10]  Kil-To Chong,et al.  A Lyapunov function approach to longitudinal control of vehicles in a platoon , 2000, VTC2000-Spring. 2000 IEEE 51st Vehicular Technology Conference Proceedings (Cat. No.00CH37026).

[11]  Petros A. Ioannou,et al.  Autonomous intelligent cruise control , 1993 .

[12]  M. Athans,et al.  On the optimal error regulation of a string of moving vehicles , 1966 .

[13]  J.K. Hedrick,et al.  Direct adaptive longitudinal control of vehicle platoons , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[14]  Reggie J. Caudill,et al.  Vehicle-Follower, Longitudinal Control for Automated Transit Vehicles , 1976 .

[15]  J. K. Hedrick,et al.  Dynamic Coupling in Vehicles Under Automatic Control , 1994 .

[16]  Zeng Jing,et al.  String stability of infinite interconnected systems , 2000 .

[17]  E. Barbieri.  Stability Analysis of a Class of Interconnected Systems , 1993 .