Abstract
Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.
Original language | English |
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Title of host publication | IFAC-PapersOnLine |
Subtitle of host publication | Proceedings 20th IFAC World Congress |
Editors | Denis Dochain, Didier Henrion, Dimitri Peaucelle |
Place of Publication | Laxenburg, Austria |
Publisher | Elsevier |
Pages | 1352-1357 |
Volume | 50-1 |
DOIs | |
Publication status | Published - 2017 |
Event | 20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 Conference number: 20 https://www.ifac2017.org |
Publication series
Name | IFAC-PapersOnLine |
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Number | 1 |
Volume | 50 |
Conference
Conference | 20th World Congress of the International Federation of Automatic Control (IFAC), 2017 |
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Abbreviated title | IFAC 2017 |
Country/Territory | France |
City | Toulouse |
Period | 9/07/17 → 14/07/17 |
Internet address |
Keywords
- Cooperative adaptive cruise control
- heterogeneous platoon
- model reference adaptive control
- string stability