Institutional Repository [SANDBOX]
Technical University of Crete
EN  |  EL

Search

Browse

My Space

Nonlinear adaptive cruise control of vehicular platoons

Karafyllis Iason, Theodosis Dionysios, Papageorgiou Markos

Full record


URI: http://purl.tuc.gr/dl/dias/6F258231-A3F6-4DE4-8ECA-076717ED56C5
Year 2023
Type of Item Peer-Reviewed Journal Publication
License
Details
Bibliographic Citation I. Karafyllis, D. Theodosis and M. Papageorgiou, “Nonlinear adaptive cruise control of vehicular platoons”, Int. J. Control, 2023, doi: 10.1080/00207179.2021.1982015. https://doi.org/10.1080/00207179.2021.1982015
Appears in Collections

Summary

The 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.

Available Files

Services

Statistics