Abstract
In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless intervehicle communication and radar-based sensing.
| Original language | English |
|---|---|
| Pages (from-to) | 1592-1605 |
| Journal | IEEE Transactions on Control Systems Technology |
| Volume | 26 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1 Sep 2018 |
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Keywords
- Consensus
- distributed control
- intelligent transportation systems
- vehicular platooning
- velocity constraint.
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Consensus control for vehicular platooning with velocity constraints. / Zegers, J.C.; Semsar-Kazerooni, E.; Ploeg, J.; van de Wouw, N.; Nijmeijer, H.
In: IEEE Transactions on Control Systems Technology, Vol. 26, No. 5, 01.09.2018, p. 1592-1605.Research output: Contribution to journal › Article › Academic › peer-review
TY - JOUR
T1 - Consensus control for vehicular platooning with velocity constraints
AU - Zegers, J.C.
AU - Semsar-Kazerooni, E.
AU - Ploeg, J.
AU - van de Wouw, N.
AU - Nijmeijer, H.
PY - 2018/9/1
Y1 - 2018/9/1
N2 - In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless intervehicle communication and radar-based sensing.
AB - In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless intervehicle communication and radar-based sensing.
KW - Consensus
KW - distributed control
KW - intelligent transportation systems
KW - vehicular platooning
KW - velocity constraint.
UR - http://www.scopus.com/inward/record.url?scp=85023170404&partnerID=8YFLogxK
U2 - 10.1109/TCST.2017.2720141
DO - 10.1109/TCST.2017.2720141
M3 - Article
AN - SCOPUS:85023170404
VL - 26
SP - 1592
EP - 1605
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
SN - 1063-6536
IS - 5
ER -