The spacing control law presented in this paper takes advantage of the technique of geometric nonlinear control of Lagrangian systems in order to achieve the demand for string stability. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. In addition the energy method is used to find control gains that yield closed-loop (Lyapunov and asymptotic) stability for an individual vehicle within platoon. The feasibility of a nonlinear string stable vehicle-follower control system is demonstrated in a simulation of a platoon of vehicles using Matlab/Simulink. In this paper a constructive approach to develop a nonlinear spacing control law for a vehicle within platoon, where the Lagrangian of the form, kinetic minus potential energy, is used. The matching process usually has some free parameters which can be interpreted as control gains. Thereby the closed-loop (Lyapunov and asymptotic) stability of an equilibrium (steady-state of the system) is determined by energy methods using any available freedom in the choice of parameters. This method can also be applied in other Lagrangian systems in the domain of transport such as airplanes in flight formation as well as trains (electronically interconnected) in platoon.
Nonlinear spacing control of following vehicles within platoon a controlled lagrangian approach
Nichtlineare Abstandsregelung in einer Fahrzeugkolonne mit der geregelten Lagrange-Methode
2004
6 Seiten
Conference paper
Storage medium
English
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