Autonomous platoon controller design: A frequency-domain approach

摘要

This paper is concerned with a linear distributed control law for platoon control, in which we consider not only the direct predecessor but also the direct follower for the vehicle. The control law consists of two parts. The first part makes the vehicle keep a desired distance with its predecessor and its follower and the second part makes the vehicle run along the mid-lane of the road with a desired velocity. The desired distance includes a constant part and a velocity-dependent part. The vehicles communicate with each other through vehicular ad-hoc networks. Each vehicle broadcasts its position and velocity. At the same time, it receives its predecessor's and follower's information. We prove that the system is stable under the proposed control law and can achieve the desired objects using frequency domain method. Communication time delay is also investigated in the system and its effects to the system are analyzed. By analysis one indicates the communication time delay does not affect the stability of the system, but it causes the static error. The relationship between the time delay and the static error is further found. Some simulations are provided to demonstrate the presented results.