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Platooning of Car-like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities

Abstract : This paper proposes a longitudinal control framework for platooning in an urban environment. The targetted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven. We propose a platoon model and control law considering actuator dynamics. This control relies on a hybrid Information Flow Topology (IFT), where the leader broadcasts its state but each follower only measures the position of its predecessor. A consensusbased control law incorporates the effect of the network/sensor time delay and the variable velocity of the leader. Conditions for the platoon internal and string stability are given. Experiments demonstrate the efficiency of the framework in simulation and real experiments with three commercial cars.
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https://hal.inria.fr/hal-03081731
Contributor : Olivier Kermorgant <>
Submitted on : Friday, December 18, 2020 - 12:03:15 PM
Last modification on : Tuesday, January 5, 2021 - 4:26:19 PM

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  • HAL Id : hal-03081731, version 1

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Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. Platooning of Car-like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2020. ⟨hal-03081731⟩

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