String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances

Title: String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances
Creator: Silva, Guilherme Fróes; Donaire, Alejandro; McFadyen, Aaron; Ford, Jason
Relation: 2020 59th IEEE Conference on Decision and Control (CDC). 2020 59th IEEE Conference on Decision and Control (CDC) (Jeju, South Korea 14-18 December, 2020) p. 2837-2842
Publisher Link: http://dx.doi.org/10.1109/CDC42340.2020.9303743
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2020
Description: This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through integral action. Sufficient conditions for string stability are satisfied by the use of a suitable state transformation. The proposed controller guarantees disturbance string stability for a prescribed time constant of the actuator dynamics, and we show through simulation that platoons with faster dynamics are also made disturbance string stable.
Subject: vehicle dynamics; stability analysis; actuators; couplings; tools; perturbation methods; numerical stability
Identifier: http://hdl.handle.net/1959.13/1439160
Identifier: uon:40843
Identifier: ISBN:9781728174471
Language: eng
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