String Stability of a PI-controlled Vehicular Platoon

Antonia E. Murillo, Francisco J. Vargas, Andres A. Peters, Alejandro J. Rojas

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Resumen

This paper studies the asymptotic stability and string stability conditions for platoons composed of vehicles modelled by single integrator dynamics that are locally controlled by PI controllers with a constant time-headway spacing policy. The novelty of the work lies on not considering that the controller dynamics cancel the ones introduced by the spacing policy, which is a common strategy to simplify the analysis. In this setup, we obtain conditions for string stability that reveal two zones in the space spanned by the design parameters of the platoon that are compatible with this property. We also provide numerical simulations that verify the derived conditions.

Idioma originalInglés
Título de la publicación alojada2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665408738
DOI
EstadoPublicada - 2021
Publicado de forma externa
Evento2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021 - Virtual, Online, Chile
Duración: 6 dic. 20219 dic. 2021

Serie de la publicación

Nombre2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021

Conferencia

Conferencia2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2021
País/TerritorioChile
CiudadVirtual, Online
Período6/12/219/12/21

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