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    Leader tracking in homogeneous vehicle platoons with broadcast delays


    Peters, Andrés A. and Middleton, Richard H. and Mason, Oliver (2014) Leader tracking in homogeneous vehicle platoons with broadcast delays. Automatica, 50 (1). pp. 64-74. ISSN 0005-1098

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    Abstract

    For vehicle platoons, the leader following control architecture is known to be capable of achieving string stability while maintaining tight formations. In this paper, we study a variety of schemes where the leader state is available to the other members of the platoon. We show that in some cases it is possible to achieve string stability in the presence of certain amounts of time delay in the leader state reception. We also compare other properties of the different schemes and discuss some of their advantages and disadvantages.

    Item Type: Article
    Keywords: Vehicle platoons; Leader following; String stability; Time delay; Linear systems;
    Academic Unit: Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 6070
    Identification Number: https://doi.org/10.1016/j.automatica.2013.09.034
    Depositing User: Oliver Mason
    Date Deposited: 23 Apr 2015 14:24
    Journal or Publication Title: Automatica
    Publisher: Elsevier
    Refereed: Yes
    URI:

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