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Nonlinear adaptive cruise control of vehicular platoons

Karafyllis Iason, Theodosis Dionysios, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/A14A016C-3144-4793-912A-ABA3CA96D956-
Identifierhttps://doi.org/10.1080/00207179.2021.1982015-
Identifierhttps://www.tandfonline.com/doi/full/10.1080/00207179.2021.1982015-
Languageen-
Extent23 pagesen
TitleNonlinear adaptive cruise control of vehicular platoonsen
CreatorKarafyllis Iasonen
CreatorΚαραφυλλης Ιασωνel
CreatorTheodosis Dionysiosen
CreatorΘεοδοσης-Παλημερης Διονυσιοςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherTaylor & Francisen
Content SummaryThe 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
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2022-09-29-
Date of Publication2021-
SubjectAdaptive cruise controlen
SubjectString stabilityen
SubjectVehicle platoonsen
SubjectAutonomous vehiclesen
Bibliographic CitationI. Karafyllis, D. Theodosis, and M. Papageorgiou, “Nonlinear adaptive cruise control of vehicular platoons,” Int. J. Control, early access, doi: 10.1080/00207179.2021.1982015.en

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