Consensus control for vehicular platooning with velocity constraints

J.C. Zegers, E. Semsar-Kazerooni, J. Ploeg, N. van de Wouw, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

6 Citations (Scopus)
185 Downloads (Pure)

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 languageEnglish
Pages (from-to)1592-1605
JournalIEEE Transactions on Control Systems Technology
Volume26
Issue number5
DOIs
Publication statusPublished - 1 Sep 2018

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Asymptotic stability
Dynamic models
Radar
Communication

Keywords

  • Consensus
  • distributed control
  • intelligent transportation systems
  • vehicular platooning
  • velocity constraint.

Cite this

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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.",
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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 journalArticleAcademicpeer-review

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