In this paper, we study the longitudinal controlproblem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily obtained by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as inter-vehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness. ; QC 20170801


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance



    Erscheinungsdatum :

    2017-01-01


    Anmerkungen:

    Scopus 2-s2.0-85012233040



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    Performance evaluation of vehicular platoons using Webots

    Karoui, Oussama / Guerfala, Emna / Koubaa, Anis et al. | Wiley | 2017

    Freier Zugriff


    Performance evaluation of vehicular platoons using Webots

    Karoui, Oussama / Guerfala, Emna / Koubaa, Anis et al. | IET | 2017

    Freier Zugriff