- Title
- String stable integral control design for vehicle platoons with disturbances
- Creator
- Silva, Guilherme Froes; Donaire, Alejandro; McFadyen, Aaron; Ford, Jason J.
- Relation
- Automatica Vol. 127, Issue May 2021, no. 109542
- Publisher Link
- http://dx.doi.org/10.1016/j.automatica.2021.109542
- Publisher
- Elsevier
- Resource Type
- journal article
- Date
- 2021
- Description
- This paper presents a control design with integral action for vehicle platoons with disturbances that ensures string stability of the closed-loop system and disturbance rejection. The addition of integral action and a coordinate change allows the development of sufficient smoothness conditions on the closed-loop system to ensure that the closed-loop system using the proposed controller is string stable when subject to time-varying disturbances, while rejecting constant disturbances. In addition, bounds for the tracking error of the platoon configuration are also given. A case study is considered together with a suitable controller structure, which satisfies the required smoothness conditions. Simulation results illustrate the performance of the closed-loop system.
- Subject
- multi-agent systems; string stability; vehicle platoons; disturbances
- Identifier
- http://hdl.handle.net/1959.13/1435729
- Identifier
- uon:39801
- Identifier
- ISSN:0005-1098
- Language
- eng
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