Ιδρυματικό Αποθετήριο
Πολυτεχνείο Κρήτης
Πολυτεχνείο Κρήτης
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| URI | http://purl.tuc.gr/dl/dias/A14A016C-3144-4793-912A-ABA3CA96D956 | - |
| Αναγνωριστικό | https://doi.org/10.1080/00207179.2021.1982015 | - |
| Αναγνωριστικό | https://www.tandfonline.com/doi/full/10.1080/00207179.2021.1982015 | - |
| Γλώσσα | en | - |
| Μέγεθος | 23 pages | en |
| Τίτλος | Nonlinear adaptive cruise control of vehicular platoons | en |
| Δημιουργός | Karafyllis Iason | en |
| Δημιουργός | Καραφυλλης Ιασων | el |
| Δημιουργός | Theodosis Dionysios | en |
| Δημιουργός | Θεοδοσης-Παλημερης Διονυσιος | el |
| Δημιουργός | Papageorgiou Markos | en |
| Δημιουργός | Παπαγεωργιου Μαρκος | el |
| Εκδότης | Taylor & Francis | en |
| Περίληψη | The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring road. 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), speed positivity, bounded acceleration, speed limits by explicitly characterising the set of allowable inputs and by leveraging barrier function techniques. Moreover, we guarantee global asymptotic stability of the platoon to the desired configuration, as well as string stability. Certain macroscopic properties are also investigated. The main challenges stem from the fact that all previous objectives must be satisfied simultaneously and the fact that the control systems studied do not evolve in a finite-dimensional linear space but rather on specific sets. The efficiency of the nonlinear adaptive cruise controllers is demonstrated by means of numerical examples. | en |
| Τύπος | Peer-Reviewed Journal Publication | en |
| Τύπος | Δημοσίευση σε Περιοδικό με Κριτές | el |
| Άδεια Χρήσης | http://creativecommons.org/licenses/by/4.0/ | en |
| Ημερομηνία | 2022-09-29 | - |
| Ημερομηνία Δημοσίευσης | 2021 | - |
| Θεματική Κατηγορία | Adaptive cruise control | en |
| Θεματική Κατηγορία | String stability | en |
| Θεματική Κατηγορία | Vehicle platoons | en |
| Θεματική Κατηγορία | Autonomous vehicles | en |
| Βιβλιογραφική Αναφορά | I. Karafyllis, D. Theodosis, and M. Papageorgiou, “Nonlinear adaptive cruise control of vehicular platoons,” Int. J. Control, early access, doi: 10.1080/00207179.2021.1982015. | en |
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