Control of interconnected nonlinear dynamical systems: the platoon problem

Leaderless Formation Control using Dynamic Extension and Sliding Control

“…Linear transfer function analysis (Swaroop and Hedrick [1996], Hedrick and Swaroop [August 1993], Sheikholeslam and Desoer [1992]) showed that these instabilities could be eliminated by the introduction of a common reference trajectory for all of the vehicles. If all of the vehicles in the platoon have knowledge of the lead vehicle's absolute velocity (Swaroop and Hedrick [1996]), then "weak string stability" can be achieved, i.e., no disturbance would ever be amplified as it traveled upstream in the platoon.…”

Verified hybrid controllers for automated vehicles

“…Besides the limitations of scope introduced in Assumption 1, we will not address the design of control laws for the follower mode. This problem is particularly challenging and has received considerable attention in recent years [25], [38]. The most obvious difficulty is regulating to the constant follower spacing at all speeds, without running into the preceding vehicle.…”

“…Knowledge of the vehicle parameters (aerodynamic coefficients, mass, etc.) is needed for feedback linearization of the vehicles dynamics (see [38]). This assumption can be relaxed by an adaptive [38], robust, or sliding mode controller [39].…”

“…is needed for feedback linearization of the vehicles dynamics (see [38]). This assumption can be relaxed by an adaptive [38], robust, or sliding mode controller [39]. Under normal conditions near-perfect lateral control has been shown to be possible both for lane keeping and for lane changing in [40] and [41].…”

Controlador integrado baseado em conceito híbrido e controle geométrico para embarcações posicionadas dinamicamente.

“…As regards transportation on land, Sheikholeslam and Desoer (1992) studied decentralized control laws for highway congestion problems sourcing leader dynamics' information and the distance between vehicles. Aguiar et al (1995) studied autonomous mobile robots to understand traffic control design.…”