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About string stability of a vehicle chain with unidirectional controller

Arash Farnam 1 Alain Sarlette 2
2 QUANTIC - QUANTum Information Circuits
ENS Paris - École normale supérieure - Paris, MINES ParisTech - École nationale supérieure des mines de Paris, SU - Sorbonne Université, Inria de Paris
Abstract : This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles. It is known that string stability cannot be achieved, with any linear controller, when the vehicles' control inputs are based only on relative distances to a fixed number of predecessors. We extend the set of characteristics under which string stability is impossible by including elements like dynamic sensor parts and local inter-vehicular communication, as in cooperative adaptive cruise control. It is also known that a weaker form of string stability is achievable by adding absolute velocity measurements (e.g. "time-headway" policy). We show that a stronger property can also be achieved, provided steady-state control gain is infinite e.g. by using integral control.
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https://hal.inria.fr/hal-02394705
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Submitted on : Wednesday, December 4, 2019 - 9:56:06 PM
Last modification on : Thursday, July 1, 2021 - 5:33:09 PM
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Arash Farnam, Alain Sarlette. About string stability of a vehicle chain with unidirectional controller. European Journal of Control, Elsevier, 2019, ⟨10.1016/j.ejcon.2019.03.002⟩. ⟨hal-02394705⟩

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