We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose (i) a centralized control policy, and (ii) a distributed control policy, where each vehicle's control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included.
@article{arxiv.1706.01195,
title = {Provably Safe Cruise Control of Vehicular Platoons},
author = {Sadra Sadraddini and Sivaranjani S and Vijay Gupta and Calin Belta},
journal= {arXiv preprint arXiv:1706.01195},
year = {2017}
}
Comments
6 Pages. Accepted to appear in IEEE Control Systems Letters (L-CSS)