Longitudinal control for platoons of connected autonomous vehicles is a hot research topic in the Cooperative Intelligent Transport Systems (C-ITSs) domain. Most of the existing results solve the platooning problem asymptotically, without ensuring that the consensus could be achieved in a finite settling time. To this aim, in this work we address the problem of guaranteeing the leader-tracking for heterogeneous vehicles platoons in a fixed time despite the presence of external disturbances. To solve this problem, by exploiting the integral sliding mode (ISM) approach and the Lyapunov theory, we propose a distributed control strategy able to ensure the leader-tracking in a finite settling time which is independent from any vehicles initial conditions. The simulation analysis, carried out in two different driving scenarios, confirms the effectiveness of the theoretical derivation.
Distributed fixed-time leader-tracking control for heterogeneous uncertain autonomous connected vehicles platoons / Coppola, A.; Lui, D. G.; Petrillo, A.; Santini, S.. - (2021), pp. 554-559. (Intervento presentato al convegno 29th Mediterranean Conference on Control and Automation, MED 2021 tenutosi a ita nel 2021) [10.1109/MED51440.2021.9480345].
Distributed fixed-time leader-tracking control for heterogeneous uncertain autonomous connected vehicles platoons
Coppola A.;Lui D. G.;Petrillo A.;Santini S.
2021
Abstract
Longitudinal control for platoons of connected autonomous vehicles is a hot research topic in the Cooperative Intelligent Transport Systems (C-ITSs) domain. Most of the existing results solve the platooning problem asymptotically, without ensuring that the consensus could be achieved in a finite settling time. To this aim, in this work we address the problem of guaranteeing the leader-tracking for heterogeneous vehicles platoons in a fixed time despite the presence of external disturbances. To solve this problem, by exploiting the integral sliding mode (ISM) approach and the Lyapunov theory, we propose a distributed control strategy able to ensure the leader-tracking in a finite settling time which is independent from any vehicles initial conditions. The simulation analysis, carried out in two different driving scenarios, confirms the effectiveness of the theoretical derivation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.