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String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-9940-5929
2017 (engelsk)Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 62, nr 9, s. 4376-4391Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired intervehicular distance between vehicles and guarantees that all vehicles track the same spatially varying reference velocity profile, as is for example required for heavy-duty vehicles driving over hilly terrain. Disturbance string stability is a notion of string stability of vehicle platoons subject to external disturbances on all vehicles that guarantees that perturbations do not grow unbounded as they propagate through the platoon. Specifically, a control design approach in the spatial domain is presented that achieves tracking of the desired spacing policy and guarantees disturbance string stability with respect to a spatially varying reference velocity. The results are illustrated by means of simulations.

sted, utgiver, år, opplag, sider
IEEE, 2017. Vol. 62, nr 9, s. 4376-4391
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URN: urn:nbn:se:kth:diva-214493DOI: 10.1109/TAC.2017.2682421ISI: 000408569300006Scopus ID: 2-s2.0-85029849463OAI: oai:DiVA.org:kth-214493DiVA, id: diva2:1147927
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QC 20171009

Tilgjengelig fra: 2017-10-09 Laget: 2017-10-09 Sist oppdatert: 2017-10-09bibliografisk kontrollert

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