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A novel nonlinear adaptive cruise controller for vehicular platoons

Karafyllis Iason, Theodosis Dionysios, Papageorgiou Markos

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Year 2021
Type of Item Conference Full Paper
Bibliographic Citation I. Karafyllis, D. Theodosis, and M. Papageorgiou (2021). A novel nonlinear adaptive cruise controller for vehicular platoons. Presented at 2021 European Control Conference (ECC). [Online]. Available:
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The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons. The constructed feedback controllers are nonlinear functions of the distance between successive vehicles and their speeds. It is shown that the proposed novel controllers guarantee safety (collision avoidance) and bounded vehicle speeds by explicitly characterizing the set of allowable inputs. Moreover, we guarantee global asymptotic stability of the platoon to a desired configuration as well as string stability. Certain macroscopic properties are also investigated. The efficiency of the nonlinear adaptive cruise controllers is demonstrated by means of numerical examples.

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