Title :
Direct adaptive longitudinal control of vehicle platoons
Author :
Swaroop, D. ; Hedrick, J.K.
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
Higher traffic capacities require smaller intervehicular spacings. At such intervehicular separations, aerodynamic drag force changes significantly with the distance to be maintained. The mass of the vehicle varies with the number of passengers. In this paper, we present a Lyapunov-based decentralised adaptive control algorithm to compensate for such parametric variations. We examine this direct adaptive control algorithm for platoon performance and parameter convergence. We present the simulation and experimental results to demonstrate the effectiveness of the adaptive controller
Keywords :
Lyapunov methods; adaptive control; convergence; decentralised control; position control; road traffic; traffic control; Lyapunov method; aerodynamic drag force; decentralised adaptive control; direct adaptive longitudinal control; intervehicular separations; parameter convergence; vehicle platoons; Adaptive control; Drag; Electronic mail; Error correction; Lakes; Mechanical engineering; Programmable control; Stability; Uncertainty; Vehicle safety;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.410877
