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Author Yanakiev, D. ♦ Kanellakopoulos, I.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1995
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Stability ♦ Automatic control ♦ Communication system control ♦ Remotely operated vehicles ♦ Programmable control ♦ Adaptive control ♦ Error correction ♦ Mobile robots ♦ Steady-state ♦ Traffic control
Abstract We present adaptive nonlinear schemes for longitudinal control of automated heavy duty vehicles. An important control objective is string stability, which ensures that errors decrease as they propagate downstream through the platoon. It is well known that string stability requires intervehicle communication if a constant spacing policy is adopted. When vehicles operate autonomously, string stability can be achieved if speed-dependent spacing with constant time headway is used. This, however, results in larger steady-state spacing, which increase the platoon length hence decreasing traffic throughput. In this paper we propose a new spacing policy in which the time headway varies linearly with the velocity error. Our simulation results demonstrate that this modification significantly reduces the transient errors and allows us to use much smaller spacing in the autonomous mode of platoon operation.
Description Author affiliation: Dept. of Electr. Eng., California Univ., Los Angeles, CA, USA (Yanakiev, D.; Kanellakopoulos, I.)
ISBN 0780326857
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1995-12-13
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 457.17 kB
Page Count 5
Starting Page 4077
Ending Page 4081

Source: IEEE Xplore Digital Library