ARPN Journal of Systems and Software::Classical and Fuzzy Control Method for a Platoon of Smart Cars

This paper presents a concept of platoon movement of autonomous vehicles (smart cars). To be able to do research to the stability of an AGV string, a car-following model is being determined. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times. To control this string, equal P(I)D controllers are applied to all vehicles, except the leading vehicle. For control of vehicle with nonlinear dynamics combination of feed-forward control and feedback control approach is used. Feed-forward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. We have also computed the fuzzy rules and sets for a car velocity controller. The learned system controls the velocity of the car with no overshoot or slow response. The model for platoon movement based on a fuzzy control algorithm was developed in Simulink.