A Lyapunov Function Approach to Longitudinal Control of Vehicles in a Platoon英文资料.pdfVIP

116 IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 50, NO. 1, JANUARY 2001 A Lyapunov Function Approach to Longitudinal Control of Vehicles in a Platoon Tae Soo No, Kil-To Chong, and Do-Hwan Roh Abstract— The Lyapunov second method is used to derive a con- controllers [5]–[9]. Sheikholeslam and Desoer [12] showed that trol law that can be used to control the spacing between vehicles tight spacing control is still possible with no communication of in a platoon. A third-order system is adopted to model the vehicle information about the lead vehicle. and powertrain dynamics. In addition, the concept of “expected spacing error” is introduced and used to form a Lyapunov func- In this paper, we propose another form of a longitudinal con- tion. Then a control law that always decreases the Lyapunov func- trol law tion is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law. (2) Index Terms—Intelligent transportation systems, longitudinal control, platoon, vehicle dynamics and control. that completely eliminates the need for a communication link between the platoon’s leading vehicle and the follower vehicles I. INTRODUCTION and uses the local link between the predecessor and follower T HAS been shown that the concept of operating vehicles