Wave-absorbing vehicular platoon controller
|Title||Wave-absorbing vehicular platoon controller|
|Publication Type||Journal Article|
|Year of Publication||2014|
|Authors||Martinec, Dan, Ivo Herman, Zdeněk Hurák, and Michael Šebek|
|Journal||European Journal of Control|
The paper tailors the so-called wave-based control, popular in the field of flexible mechanical structures, to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control algorithm with a wave-absorbing controller implemented on the leader, and/or on the rear-end vehicle. The wave-absorbing controller actively absorbs an incoming wave of positional changes in the platoon and thus prevents oscillations of inter-vehicle distances. The proposed controller significantly improves the performance of platoon manoeuvrers such as acceleration/deceleration or changing the distances between vehicles without making the platoon string unstable. Numerical simulations show that the wave-absorbing controller performs efficiently even for platoons with a large number of vehicles, for which other platooning algorithms are inefficient or require wireless communication between vehicles.