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

Autonomous cruise control with a minimal order Quasi-linear controller

“…Recent [6], control based on a Lyapunov function [7], H-infinity control [8], fuzzy logic [9] and neural network [10], however most of the approaches address few of the several issues of automated driving. For example [3] considers optimal LQR synthesis but establishes longitudinal control with very high gain control vector, thus does not address the actuator limitations problem, whereas [7] establishes longitudinal control with an oscillating response, thus disregards the issues of ride comfort, [3], [7], [9] do not take into account the physical limitations of the plant in exhibiting control and [11] considers acceleration and deceleration limits but does not address model uncertainty.…”

“…For example [3] considers optimal LQR synthesis but establishes longitudinal control with very high gain control vector, thus does not address the actuator limitations problem, whereas [7] establishes longitudinal control with an oscillating response, thus disregards the issues of ride comfort, [3], [7], [9] do not take into account the physical limitations of the plant in exhibiting control and [11] considers acceleration and deceleration limits but does not address model uncertainty. In this work, a novel controller is implemented with special mentions to most important issues of the automatic cruise control system.…”

Vehicle following : control design, simulation and experiments

“…The result was the desired spacing became a quadratic function of velocity [45][46][47][48][49][50][51]. And with no doubts, if the information of the leader vehicle were also available and integrated, the performance and stability of the platoon would be much improved [52,53]. are applicable.…”

“…In general, there are two ways of getting those measurements. The first one is to utilize a wireless communication channel to transit the vehicular measurements such as velocity, acceleration and yaw rate of the leader vehicle to the follower vehicle [42,53]. The relative velocities and/or accelerations are computed based on the geometric and dynamic relationships of the two vehicles.…”

“…These requirements are vital and also implemented in other vehicle-following systems. For example, the inclusion of relative distance, velocity and even acceleration in the controller have been well known and implemented in longitudinal controls in order to improve the stability of the tracking system[35,42,53]. Likewise, for steering control, the controllers developed based on kinematic model generally need the relative angle and/or its first derivative[41,42] whereas those based on dynamics-model[62,63,101] may or may not require the second derivative.…”