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.
2021
978-1-6654-2258-1
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].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/880116
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 12
  • ???jsp.display-item.citation.isi??? 8
social impact