%0 Journal Article
%A Chehardoli, Hossein
%A homaienezhad, Mohammad reza
%T Control of a Heterogeneous Platoon of Vehicles with Actuator Lag, Communication Delay and Switched Interaction Topology: Constant Spacing and Constant Time Headway Policies
%J Journal of Control
%V 11
%N 1
%U http://joc.kntu.ac.ir/article-1-419-en.html
%R
%D 2017
%K Heterogeneous platoon, Communication delay, Actuator lag, Lyapunov-Razumikhin, String stability,
%X p { margin-bottom: 0.1in; direction: ltr; line-height: 120%; text-align: left; orphans: 2; widows: 2; }a:link { color: rgb(0, 0, 255); } 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.
%> http://joc.kntu.ac.ir/article-1-419-en.pdf
%P 27-37
%& 27
%!
%9 Research paper
%L A-10-512-2
%+ KNT
%G eng
%@ 2008-8345
%[ 2017