Volume 11, Issue 1 (Journal of Control, V.11, N.1 Spring 2017)                   JoC 2017, 11(1): 27-37 | Back to browse issues page

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Chehardoli H, homaienezhad M R. Control of a Heterogeneous Platoon of Vehicles with Actuator Lag, Communication Delay and Switched Interaction Topology: Constant Spacing and Constant Time Headway Policies. JoC. 2017; 11 (1) :27-37
URL: http://joc.kntu.ac.ir/article-1-419-en.html
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Abstract:   (5600 Views)

This paper investigates the control problem of a heterogonous vehicular platoon with time-varying interaction topology, communication delay and actuator’s lag. For each vehicle, a neighbor based linear control law using relative position and relative velocity between vehicles is considered. Two new approaches based on Lyapunov-Razumikhin theorem are presented to perform the internal stability analysis of the resultant switched linear time delay system. It is shown that the closed-loop dynamic is globally asymptotically stable under arbitrary switching. It means that the heterogeneous platoon of vehicles is internal stable under switching action. In continuance of paper, a new theorem is presented to obtain conditions on controller gains satisfying the string stability of heterogeneous platoon. Simulation results are provided to show the effectiveness of the proposed approaches.

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Type of Article: Research paper | Subject: Special
Received: 2016/11/14 | Accepted: 2017/01/28 | ePublished ahead of print: 2017/07/2 | Published: 2017/05/29

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