Related papers: On $\mathcal{L}_{\infty}$ string stability of nonl…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
We consider a distributed system with identical agents, constant-spacing policy and asymmetric bidirectional control, where the asymmetry is due to different controllers, which we describe by transfer functions. By applying the wave…
We consider platoons composed of identical vehicles with an asymmetric nearest-neighbor interaction. We restrict ourselves to intervehicular coupling realized with dynamic arbitrary-order onboard controllers such that the coupling to the…
The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the…
We investigate the possibility to use macroscopic information to improve control performance of a vehicular platoon composed of autonomous vehicles. A general mesoscopic traffic modeling is described, and a closed loop String Stability…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
Zhong-Ping Jiang devoted a large part of his work to the study of the stability properties of interconnected systems. In this short paper we celebrate Zhong-Ping Jiang's 60th birthday by studying a special class of families of…
This article is motivated by the lack of empirical data on the performance of commercially available Society of Automotive Engineers level one automated driving systems. To address this, a set of car following experiments are conducted to…
We provide a comprehensive impossibility result towards achieving string stability, i.e. keeping local relative errors in check with local controllers independently of the size of a chain of subsystems. We significantly extend existing…
Platooning is a critical technology to realize autonomous driving. Each vehicle in platoons adopts the IEEE 802.11p standard to exchange information through communications to maintain the string stability of platoons. However, one vehicle…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
This paper revisits the robustness analysis and distributed ${ H}_\infty$ controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
We consider stabilization and performance optimization of non-linear controlled systems, where the non-linearity satisfies a sector constraint asymptotically. This leads to optimization of the closed loop peak-to-peak system norm subject to…
We study a class of elastic systems described by a (hyperbolic) partial differential equation. Our working example is the equation of a vibrating string subject to linear disturbance. The main goal is to establish conditions for…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles, i.e. how input disturbances affect the distributed system for very long chains. There exist variants of string stability, like avoiding…