Platooning of Car-like Vehicles in Urban Environments: Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communication Capabilities - Archive ouverte HAL Access content directly
Journal Articles IEEE Transactions on Control Systems Technology Year : 2020

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

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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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Dates and versions

hal-03081731 , version 1 (18-12-2020)

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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, 2020, ⟨10.1109/TCST.2020.3044786⟩. ⟨hal-03081731⟩
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