This paper proposes a novel distributed third-order model based longitudinal controller for heterogeneous vehicle platoon. In particular, the nonlinear longitudinal controller is proposed by incorporating the consensus and car-following interactions between connected vehicles, while the heterogeneous powertrain characteristics are captured based on the third-order model allowing the behavior of heterogeneous vehicle to be analyzed. Then, the convergence condition is analytically derived by Routh–Hurwitz stability criterion. Based on the proposed controller, not only can the consensus be guaranteed under the influence of heterogeneity of connected vehicles but also the rear-end collision and negative velocity can be avoided. Finally, simulations in the presence of external disturbances are executed to verify the robustness and effectiveness of the proposed controller with respect to the position, velocity, and acceleration profiles.
Third-order model based nonlinear longitudinal control for heterogeneous connected vehicle platoon
2019-08-01
591547 byte
Conference paper
Electronic Resource
English
Self-Triggered Consensus Control for Third-Order Heterogeneous Vehicle Platoon
Springer Verlag | 2025
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