Directional Control of a Platoon of Vehicles for Comfort Specification by Considering Parasitic Time Delays and Lags
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چکیده
The problem of controlling a string of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constant spacing between successive vehicles. The goal of this paper is to consider the effects of parasitic time delays, lags and comfort specification. The contribution of this paper is two-fold. First, negative effects of the parasitic time delays and lags on the string stability have been investigated since most physical systems usually involve parasitic time delays and lags. Second, restrictions on control parameters, to be well-suited with bounds on the dynamic variables as well as the requirement for string stability have been presented. Finally, a simulation example of multiple vehicle platoon control is used to demonstrate the effectiveness of the proposed method.
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