Effects of speed saturation in a predecessor-following vehicle platoon

Antonia Murillo, Francisco Vargas, Andres Peters

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In this paper we perform a numerical study of the effect of speed saturation in a platoon of autonomous vehicles. In particular, the work is centered around studying the string stability of the platoon considering said speed limit. For this we will consider that each vehicle has the same dynamical description and that the desired inter-vehicle spacing depends on the speed of each agent. The analysis is done in discrete time and, besides the saturations, we assume that that the dynamics of the local control loops are linear time invariant. As a result, we illustrate numerically how the error due to said saturations may propagate along the string, losing the string stability property of the multi-agent system. We also illustrate that the undesireable effects of the saturation may be mitigated when a simple anti- windup scheme is incorporated to deal with them.

Original languageEnglish
Title of host publicationIEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728131856
DOIs
StatePublished - Nov 2019
Event2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019 - Valparaiso, Chile
Duration: 13 Nov 201927 Nov 2019

Publication series

NameIEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019

Conference

Conference2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
Country/TerritoryChile
CityValparaiso
Period13/11/1927/11/19

Keywords

  • Vehicle platoon
  • autonomous navigation
  • speed saturation
  • string stability

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