Institutional Repository
Technical University of Crete
Technical University of Crete
EN
|
EL
| URI | http://purl.tuc.gr/dl/dias/A14A016C-3144-4793-912A-ABA3CA96D956 | - |
| Identifier | https://doi.org/10.1080/00207179.2021.1982015 | - |
| Identifier | https://www.tandfonline.com/doi/full/10.1080/00207179.2021.1982015 | - |
| Language | en | - |
| Extent | 23 pages | en |
| Title | Nonlinear adaptive cruise control of vehicular platoons | en |
| Creator | Karafyllis Iason | en |
| Creator | Καραφυλλης Ιασων | el |
| Creator | Theodosis Dionysios | en |
| Creator | Θεοδοσης-Παλημερης Διονυσιος | el |
| Creator | Papageorgiou Markos | en |
| Creator | Παπαγεωργιου Μαρκος | el |
| Publisher | Taylor & Francis | en |
| Content Summary | 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 |
| Type of Item | Peer-Reviewed Journal Publication | en |
| Type of Item | Δημοσίευση σε Περιοδικό με Κριτές | el |
| License | http://creativecommons.org/licenses/by/4.0/ | en |
| Date of Item | 2022-09-29 | - |
| Date of Publication | 2021 | - |
| Subject | Adaptive cruise control | en |
| Subject | String stability | en |
| Subject | Vehicle platoons | en |
| Subject | Autonomous vehicles | en |
| Bibliographic Citation | 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 |
Copyright © DIAS 2013
