A Lyapunov function approach to longitudinal control of vehicles in a platoon
A Lyapunov function approach to longitudinal control of vehicles in a platoon
- New search for: No, Tae-Soo
- New search for: Chong, Kil-To
- New search for: Roh, Do-Hwan
- New search for: No, Tae-Soo
- New search for: Chong, Kil-To
- New search for: Roh, Do-Hwan
The Lyapunov second method is used to derive a control law that can he used to control the spacing between vehicles in a platoon. A third-order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of 'expected spacing error' is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law.
Document information
A Lyapunov function approach to longitudinal control of vehicles in a platoon
IEEE Transactions on Vehicular Technology ; 50 , 1 ; 116-124
2001
9 Seiten, 15 Quellen
Article (Journal)
English
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