In this paper, non-linear estimators and feed-forward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to study different methods to compute this information. In this work, sliding mode algorithms are employed to generate the desired trajectories and also to compute the feed-forward control input of each vehicle. In this way, a velocity-dependent inter-vehicle spacing policy can be realized without using derivatives of the vehicular acceleration to compute the feed-forward input. Furthermore, a full-state feedback implementation scheme is discussed. The vehicles are modeled with heterogeneous linear longitudinal dynamics. The proposed algorithms are validated through experiments on automated cars.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear multi-layer consensus seeking of vehicular platoons


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    4897257 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    VEHICULAR PLATOONING: MULTI-LAYER CONSENSUS SEEKING

    Fusco, Mauro / Semsar-Kazerooni, Elham / Ploeg, Jeroen et al. | British Library Conference Proceedings | 2016


    Performance evaluation of vehicular platoons using Webots

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

    Freier Zugriff

    Provably Safe Cruise Control of Vehicular Platoons

    Sadraddini, Sadra / S, Sivaranjani / Gupta, Vijay et al. | ArXiv | 2017

    Freier Zugriff

    Performance evaluation of vehicular platoons using Webots

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

    Freier Zugriff