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Nonlinear adaptive cruise control of vehicular platoons

Karafyllis Iason, Theodosis Dionysios, Papageorgiou Markos

Απλή Εγγραφή


URIhttp://purl.tuc.gr/dl/dias/6F258231-A3F6-4DE4-8ECA-076717ED56C5-
Αναγνωριστικόhttps://doi.org/10.1080/00207179.2021.1982015-
Αναγνωριστικόhttps://www.tandfonline.com/doi/full/10.1080/00207179.2021.1982015-
Γλώσσαen-
Μέγεθος39 pagesen
ΤίτλοςNonlinear adaptive cruise control of vehicular platoonsen
ΔημιουργόςKarafyllis Iasonen
ΔημιουργόςΚαραφυλλης Ιασωνel
ΔημιουργόςTheodosis Dionysiosen
ΔημιουργόςΘεοδοσης-Παλιμερης Διονυσιοςel
ΔημιουργόςPapageorgiou Markosen
ΔημιουργόςΠαπαγεωργιου Μαρκοςel
ΕκδότηςInformaen
ΠεριγραφήThe research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.en
ΠερίληψηThe paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring road. The constructed feedback controllers are nonlinear functions of the distance between successive vehicles and their speeds. It is shown that the proposed novel controllers guarantee safety (collision avoidance), speed positivity, bounded acceleration, speed limits by explicitly characterising the set of allowable inputs and by leveraging barrier function techniques. Moreover, we guarantee global asymptotic stability of the platoon to the desired configuration, as well as string stability. Certain macroscopic properties are also investigated. The main challenges stem from the fact that all previous objectives must be satisfied simultaneously and the fact that the control systems studied do not evolve in a finite-dimensional linear space but rather on specific sets. The efficiency of the nonlinear adaptive cruise controllers is demonstrated by means of numerical examples.en
ΤύποςPeer-Reviewed Journal Publicationen
ΤύποςΔημοσίευση σε Περιοδικό με Κριτέςel
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Ημερομηνία2024-06-27-
Ημερομηνία Δημοσίευσης2023-
Θεματική ΚατηγορίαAdaptive cruise controlen
Θεματική ΚατηγορίαString stabilityen
Θεματική ΚατηγορίαVehicle platoonsen
Θεματική ΚατηγορίαAutonomous vehiclesen
Βιβλιογραφική ΑναφοράI. Karafyllis, D. Theodosis and M. Papageorgiou, “Nonlinear adaptive cruise control of vehicular platoons”, Int. J. Control, 2023, doi: 10.1080/00207179.2021.1982015.en

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