Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

Blog Article

The problem of controlling a platoon of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constant spacing between successive vehicles.The stability and the string stability of a platoon of BATH + BODY vehicles with two independent and uncertain delays, one in the inter-vehicle distance and the other in the relative velocity information channels, are considered.The main objectives of this paper are: (1) using a simplifying factorization procedure and deploying the cluster treatment of characteristic roots (CTCR) paradigm to obtain exact stability boundaries in the Goalie - Sticks - Senior domain of the delays, and (2) for the purpose of disturbance attenuation, the string stability analysis is examined.

Finally, a simulation example of multiple vehicle platoon control is used to demonstrate the effectiveness of the proposed method.