TY - GEN
T1 - Effects of speed saturation in a predecessor-following vehicle platoon
AU - Murillo, Antonia
AU - Vargas, Francisco
AU - Peters, Andres
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
KW - Vehicle platoon
KW - autonomous navigation
KW - speed saturation
KW - string stability
UR - http://www.scopus.com/inward/record.url?scp=85081062256&partnerID=8YFLogxK
U2 - 10.1109/CHILECON47746.2019.8988051
DO - 10.1109/CHILECON47746.2019.8988051
M3 - Conference contribution
AN - SCOPUS:85081062256
T3 - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
BT - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
Y2 - 13 November 2019 through 27 November 2019
ER -