2-D Polynomial Approach to Control of Leader Following Vehicular Platoons

Title2-D Polynomial Approach to Control of Leader Following Vehicular Platoons
Publication TypeConference Paper
Year of Publication2011
AuthorsŠebek, Michael, and Zdeněk Hurák
Conference LocationMilano, Italy

This paper formulates the problems of stabilization and asymptotic following in infnite platoons of vehicles within the 2-D polynomial framework, that is, the dynamics of the problem are described using a fraction of two bivariate polynomials. In contrast to some previous works, the platoon here assumes a leader (and an infnite number of followers), therefore the often used bilateral z-transform should not be used here since it assumes a doubly infnite vehicular strings. The unilateral z-transform seems better suited. However, it brings about the need to take the boundary conditions into consideration; among other, the leader vehicle comes into the scene. The necessary formalism is introduced in the paper and used to provide elegant alternative proofs of some well-known facts about the platooning problem.


18th World Congress of the International Federation of Automatic Control (IFAC)

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