Vehicle platoon formation using interpolating control with integral action

In this paper, a control design approach known as interpolating control is used for cooperative vehicle longitudinal control in order to form vehicle platoons. The objective is to regulate the vehicles' speeds and the spacings between the vehicles, from their initial conditions into a shared consensus. A discrete state space formulation is used to model the system, in which constraints are enforced. The interpolating control approach is implemented and compared with other methods such as MPC. The paper presents an implementation of the interpolating controller that includes integral action, for the purpose of improving the steady state performance in the presence of a disturbance. We show that this controller can indeed eliminate the steady state error, defined as the output of the system, if the disturbance is a bounded step function and the initial conditions are feasible.


  • English

Media Info

  • Pagination: pp 355-360
  • Monograph Title: FAST-zero'15: 3rd international symposium on future active safety technology toward zero traffic accidents: September 9-11, 2015 Gothenburg, Sweden: proceedings

Subject/Index Terms

Filing Info

  • Accession Number: 01602308
  • Record Type: Publication
  • Source Agency: Swedish National Road and Transport Research Institute (VTI)
  • Files: ITRD, VTI
  • Created Date: Jun 20 2016 1:28PM