AU - Chehardoli, Hossein
AU - homaienezhad, Mohammad reza
TI - Control of a Heterogeneous Platoon of Vehicles with Actuator Lag, Communication Delay and Switched Interaction Topology: Constant Spacing and Constant Time Headway Policies
PT - JOURNAL ARTICLE
TA - joc-isice
JN - joc-isice
VO - 11
VI - 1
IP - 1
4099 - http://joc.kntu.ac.ir/article-1-419-en.html
4100 - http://joc.kntu.ac.ir/article-1-419-en.pdf
SO - joc-isice 1
ABĀ - 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.
CP - IRAN
IN - Hchehardoli@gmail.com
LG - eng
PB - joc-isice
PG - 27
PT - Research paper
YR - 2017