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Platoon-stable adaptive controller design | IEEE Conference Publication | IEEE Xplore

Platoon-stable adaptive controller design


Abstract:

In this paper, adaptive control is presented for a platoon of vehicles in the presence of parameter uncertainties. A constant time headway policy is employed for a platoo...Show More

Abstract:

In this paper, adaptive control is presented for a platoon of vehicles in the presence of parameter uncertainties. A constant time headway policy is employed for a platoon stable control design based on feedback linearization. Using Lyapunov synthesis, the developed adaptive controller guarantees the boundedness of spacing errors in the platoon. The parameter estimates eventually converge to their true values and the platoon achieves the desired performance that the platoon stability properties are ensured. As a consequence, the resulting vehicle platoon can operate without requiring communication of lead vehicle information.
Date of Conference: 14-17 December 2004
Date Added to IEEE Xplore: 16 May 2005
Print ISBN:0-7803-8682-5
Print ISSN: 0191-2216
Conference Location: Nassau, Bahamas

References

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