On the peaking phenomenon in the control of vehicular platoons

Third-order Decentralized Safe Consensus Protocol for Inter-connected Heterogeneous Vehicular Platoons

In this paper, the stability analysis and control design of heterogeneous traffic flow is considered. It is assumed that the traffic flow consists of infinite number of cooperative non-identical vehicular platoons. Two different networks are investigated in stability analysis of heterogeneous traffic flow: 1) inter-platoon network which deals with the communication topology of lead vehicles and...

Peaking Attenuation in High-Gain Observers Using Adaptive Saturation: Application to a Ball and Wheel System

Despite providing robustness, high-gain observers impose a peaking phenomenon, which may cause instability, on the system states. In this paper, an adaptive saturation is proposed to attenuate the undesirable mentioned phenomenon in high-gain observers. A real-valued and differentiable sigmoid function is considered as the saturating element whose parameters (height and slope) are adaptively tu...

A new virtual leader-following consensus protocol to internal and string stability analysis of longitudinal platoon of vehicles with generic network topology under communication and parasitic delays

In this paper, a new virtual leader following consensus protocol is introduced to perform the internal and string stability analysis of longitudinal platoon of vehicles under generic network topology. In all previous studies on multi-agent systems with generic network topology, the control parameters are strictly dependent on eigenvalues of network matrices (adjacency or Laplacian). Since some ...

Approximation error in PDE-based modelling of vehicular platoons

Survey the Security Function of Integration of vehicular ad hoc Networks with Software-defiend Networks

In recent years, Vehicular Ad Hoc Networks (VANETs) have emerged as one of the most active areas in the field of technology to provide a wide range of services, including road safety, passenger's safety, amusement facilities for passengers and emergency facilities. Due to the lack of flexibility, complexity and high dynamic network topology, the development and management of current Vehicular A...