Experimental verification of robustness in a semi-autonomous heavy vehicle platoon

Gábor Rödönyi, Péter Gáspár, József Bokor, László Palkovics

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

Novel numerical methods for analyzing robust peak-to-peak performance of heterogeneous vehicle platoons are presented. The goal is to compute worst-case spacing error peaks in terms of platoon heterogeneity, communication delays, disturbances and uncertainties in the vehicle dynamics. First, a convex set of parametric linear vehicle models is employed to analyze the effect of platoon heterogeneity. Then, a data-driven uncertainty modeling algorithm is developed that computes the least conservative spacing error bound for a given disturbance model class. The methods are demonstrated on three platoon controllers. One of them is a new constant spacing controller receiving control information from both the platoon leader and the immediate preceding vehicle.

Original languageEnglish
Pages (from-to)13-25
Number of pages13
JournalControl Engineering Practice
Volume28
Issue number1
DOIs
Publication statusPublished - Jul 2014

Keywords

  • Communication delay
  • Peak-to-peak norm
  • Robust performance
  • String stability
  • Uncertainty modeling
  • Vehicle platoon

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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