Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delays

This paper presents a novel control design framework for vehicle platooning together with its experimental validation. The problem of controlling the vehicles within a platoon, so that they converge to their desired velocities and intervehicle distances, is formulated as a high-order network consens...

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Veröffentlicht in:	IEEE transactions on control systems technology 2016-03, Vol.24 (2), p.413-427
Hauptverfasser:	di Bernardo, Mario, Falcone, Paolo, Salvi, Alessandro, Santini, Stefania
Format:	Artikel
Sprache:	eng
Schlagworte:	automated vehicles Automation & Control Systems Automotive applications communication delays consensus control control Convergence cooperative driving challenge delay Delays disturbance propagation Engineering intelligent vehicles leader-following consensus longitudinal multiagent Network topology networks Protocols stability Stability analysis switching topology systems Topology vehicle vehicle platoon Vehicles
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