We theoretically address the problem of achieving third-order consensus for a platoon of vehicles in the presence of heterogenous time-varying communication delays. A Lyapunov-Krasovkii function is constructed for the stability analysis. Necessary and sufficient conditions are derived to guarantee that all vehicles asymptotically reach the relative acceleration, speed and position according to the spacing policy. Numerical simulations are provided to demonstrate the effectiveness of the theoretical results in different driving conditions and in the presence of external disturbances. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Third-order consensus in vehicles platoon with heterogeneous time-varying delays / DI BERNARDO, Mario; Salvi, Alessandro; Santini, Stefania; Valente, Antonio Saverio. - 48:12(2016), pp. 358-363. (Intervento presentato al convegno FAC Workshop onTime Delay SystemsTDS 2015 nel 2015) [10.1016/j.ifacol.2015.09.404].
Third-order consensus in vehicles platoon with heterogeneous time-varying delays
DI BERNARDO, MARIO;SANTINI, STEFANIA;
2016
Abstract
We theoretically address the problem of achieving third-order consensus for a platoon of vehicles in the presence of heterogenous time-varying communication delays. A Lyapunov-Krasovkii function is constructed for the stability analysis. Necessary and sufficient conditions are derived to guarantee that all vehicles asymptotically reach the relative acceleration, speed and position according to the spacing policy. Numerical simulations are provided to demonstrate the effectiveness of the theoretical results in different driving conditions and in the presence of external disturbances. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
