This chapter investigates a platoon control problem with nonlinear third‐order vehicle dynamics and bidirectional information flow. A new spacing policy is introduced based on the difference between the vehicle velocity and the platoon reference velocity, which is given from the planning layer. Unlike the serial scheme with a single performance function, two performance functions are introduced, which are, respectively, based on the tracking error and the sliding mode variable, to make the controller design independent of the sign of the initial tracking errors. Then, a prescribed performance concurrent control (PPCC) method is presented, which makes the two variables meet the prescribed performance constraints concurrently, and hence, guarantees individual stability and string stability. The PPCC framework involves two performance functions based, respectively, on the tracking error and the sliding mode variable that are related to individual stability and string stability.
Prescribed Performance Concurrent Control
Connected Vehicular Systems ; 165-180
25.10.2023
16 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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