TY - GEN
T1 - Comparison of two control strategies for platoons with communication losses
AU - Gordon, Marco
AU - Vargas, Francisco
AU - Peters, Andres
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/22
Y1 - 2021/3/22
N2 - This paper presents a comparison between two strategies to deal with data loss in a platoon of vehicles. We consider an homogeneous multi-agent LTI system comprised of vehicles using a predecessor follower topology and a constant time headway policy. Each agent in the string sends its current position to the immediate follower through a lossy channel modeled as a Bernoulli process. To maintain the speed of a vehicle in the event of communication loss, two control strategies are analyzed. When the data of the predecessor is not available, a first strategy uses the previously received data to estimate the lost position, while the other protocol uses the previously calculated control law. For both cases, we aim to analyze how the lossy channels affect the string stability and the overall behavior of the platoon. Through simulation results, we present the statistics of the position error and the tracking performance for different probabilities of losses and values of the time headway constant.
AB - This paper presents a comparison between two strategies to deal with data loss in a platoon of vehicles. We consider an homogeneous multi-agent LTI system comprised of vehicles using a predecessor follower topology and a constant time headway policy. Each agent in the string sends its current position to the immediate follower through a lossy channel modeled as a Bernoulli process. To maintain the speed of a vehicle in the event of communication loss, two control strategies are analyzed. When the data of the predecessor is not available, a first strategy uses the previously received data to estimate the lost position, while the other protocol uses the previously calculated control law. For both cases, we aim to analyze how the lossy channels affect the string stability and the overall behavior of the platoon. Through simulation results, we present the statistics of the position error and the tracking performance for different probabilities of losses and values of the time headway constant.
KW - Constant time-headway
KW - Lossy channels
KW - String stability
KW - Vehicular platoon control
UR - http://www.scopus.com/inward/record.url?scp=85114196333&partnerID=8YFLogxK
U2 - 10.1109/ICAACCA51523.2021.9465306
DO - 10.1109/ICAACCA51523.2021.9465306
M3 - Conference contribution
AN - SCOPUS:85114196333
T3 - 2021 IEEE International Conference on Automation/24th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2021
BT - 2021 IEEE International Conference on Automation/24th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Automation/24th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2021
Y2 - 22 March 2021 through 26 March 2021
ER -