TY - GEN
T1 - Leader velocity tracking and string stability in homogeneous vehicle formations with a constant spacing policy
AU - Peters, Andrés A.
AU - Middleton, Richard H.
PY - 2011
Y1 - 2011
N2 - For vehicle platoons, the leader following control structure is well known for being capable of achieving string stability. In this paper, the linear string case is modified so that each follower tracks the instantaneous velocity of the leader in addition to the position of its predecessor. We show that it is possible to achieve string stability, under some basic assumptions, with this approach. We also discuss some of the benefits of the use of this method such as lowered coordination requirements and simplified communication needs.
AB - For vehicle platoons, the leader following control structure is well known for being capable of achieving string stability. In this paper, the linear string case is modified so that each follower tracks the instantaneous velocity of the leader in addition to the position of its predecessor. We show that it is possible to achieve string stability, under some basic assumptions, with this approach. We also discuss some of the benefits of the use of this method such as lowered coordination requirements and simplified communication needs.
UR - http://www.scopus.com/inward/record.url?scp=84858986852&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2011.6138068
DO - 10.1109/ICCA.2011.6138068
M3 - Conference contribution
AN - SCOPUS:84858986852
SN - 9781457714757
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 42
EP - 46
BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011
T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011
Y2 - 19 December 2011 through 21 December 2011
ER -