Nonlinear multi-layer consensus seeking of vehicular platoons

Mauro Fusco, Elham Semsar-Kazerooni, Jeroen C. Zegers, Jeroen Ploeg

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

In this paper, non-linear estimators and feed-forward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to study different methods to compute this information. In this work, sliding mode algorithms are employed to generate the desired trajectories and also to compute the feed-forward control input of each vehicle. In this way, a velocity-dependent inter-vehicle spacing policy can be realized without using derivatives of the vehicular acceleration to compute the feed-forward input. Furthermore, a full-state feedback implementation scheme is discussed. The vehicles are modeled with heterogeneous linear longitudinal dynamics. The proposed algorithms are validated through experiments on automated cars.

Original languageEnglish
Title of host publication5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages122-127
Number of pages6
ISBN (Electronic)978-1-5090-6484-7
DOIs
Publication statusPublished - 8 Aug 2017
Event5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) - Hotel Royal Continental, Napels, Italy
Duration: 26 Jun 201727 Jun 2017
Conference number: 5
http://www.mt-its2017.org/

Conference

Conference5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Abbreviated titleMT-ITS2017
CountryItaly
CityNapels
Period26/06/1727/06/17
Internet address

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  • Cite this

    Fusco, M., Semsar-Kazerooni, E., Zegers, J. C., & Ploeg, J. (2017). Nonlinear multi-layer consensus seeking of vehicular platoons. In 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings (pp. 122-127). [8005651] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MTITS.2017.8005651