A Lyapunov function approach to longitudinal control of vehicles in a platoon

Author

No, Tae Soo ; Chong, Kil-To ; Roh, Do-Hwan

Author_Institution

Mechatronics Res. Centre, Chonbuk Nat. Univ., Chonju, South Korea

Volume

1

fYear

2000

fDate

2000

Firstpage

336

Abstract

The Lyapunov stability theorem is used to derive a control law which can be used to control the spacing between vehicles in a platoon. A third order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of “expected spacing error” is introduced and used to form a Lyapunov function. Then a control law which always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law

Keywords

Lyapunov methods; automated highways; position control; road traffic; stability; Lyapunov function; Lyapunov function approach; control law; expected spacing error; longitudinal vehicles control; powertrain dynamics modeling; third order system; vehicle modeling; vehicle platoon; vehicle spacing control; Acceleration; Accelerometers; Automatic voltage control; Communication system control; Control systems; Intelligent vehicles; Lyapunov method; Sliding mode control; Three-term control; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicular Technology Conference Proceedings, 2000. VTC 2000-Spring Tokyo. 2000 IEEE 51st

Conference_Location

Tokyo

ISSN

1090-3038

Print_ISBN

0-7803-5718-3

Type

conf

DOI

10.1109/VETECS.2000.851474

Filename

851474