An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

Abou Harfouch, Youssef (Student TU Delft)
Yuan, S. (TU Delft Team Bart De Schutter)
Baldi, S. (TU Delft Team Bart De Schutter)

Dochain, Denis (editor)
Henrion, Didier (editor)
Peaucelle, Dimitri (editor)

2017

Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.

Cooperative adaptive cruise control
heterogeneous platoon
model reference adaptive control
string stability

http://resolver.tudelft.nl/uuid:715c9502-f188-4a56-a49a-c59168b045d6

https://doi.org/10.1016/j.ifacol.2017.08.225

Elsevier, Laxenburg, Austria

IFAC-PapersOnLine: Proceedings 20th IFAC World Congress, 50-1

20th World Congress of the International Federation of Automatic Control (IFAC), 2017, 2017-07-09 → 2017-07-14, Toulouse, France

IFAC-PapersOnLine, 50 (1)

Institutional Repository

conference paper

© 2017 Youssef Abou Harfouch, S. Yuan, S. Baldi