A SYSTEMATIC ANTIWINDUP STRATEGY AND THE LONGITUDINAL CONTROL OF A PLATOON OF VEHICLES WITH CONTROL SATURATIONS

In this paper, the authors focus on the issue of saturating control signals in platoons of vehicles. They present a design procedure for adapting a nominal controller, designed without regard to control saturation, to a higher performance nonlinear controller that explicitly accounts for the saturating nonlinearities while preserving stability. Results from the study show that the severe windup found in nominal platooning applications can be eliminated without loss of steady-state performance, thus increasing the range of maneuvers open to the lead vehicle in a platoon. The authors describe the simulation of a platoon of 15 non-identical vehicles with nonlinear vehicle models illustrating the results of the study.

• Supplemental Notes:
  • Publication Date: May 2000
• Authors:
  • Warnick, Sean C
  • Rodriguez, Armando A
• Publication Date: 2000

Language

• English

Media Info

• Pagination: p. 1006-1016
• Serial:
  • IEEE transactions on vehicular technology. Vol. 49, no. 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Subject/Index Terms

• TRT Terms: Longitudinal control; Traffic platooning
• Subject Areas: Operations and Traffic Management;

Filing Info

• Accession Number: 00800051
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Oct 12 2000 12:00AM