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Autonomous Platoon controller design: A Time Domain Approach
Pan Chuang, Yonggui Liu
School of Automation Science and Engineering , South China university of Technology,Guangzhou 510640
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Funding: This work is supported by Specialised Research Fund for the Doctoral Program (No.20120172120034), the National Natural Science Foundation of China(No.61573153), Guangzhou science and technology plan project (201510010132) and the National Natural Science Foundation of Guangdong Province (No.2016A030313510)
Opened online:20 May 2016
Accepted by: none
Citation: Pan Chuang, Yonggui Liu.Autonomous Platoon controller design: A Time Domain Approach[OL]. [20 May 2016] http://en.paper.edu.cn/en_releasepaper/content/4689111
 
 
In this paper, the linear control laws are proposed for the platoonrun in a 2-dimensional space. Each vehicle not only uses theinformation of its predecessor, but also its follower's. We considera platoon that doesn't need a leader and prove the platoon is stableunder the proposed state feedback control law. We set a target pointfor each vehicle, which guarantees the vehicle run along the middleposition of the road with the desired velocity. After somemodifications, the control law is applied to the platoon with aleader. One proves the control law is also effective. Somesimulations are provided to illustrate that the proposed controllaws are feasible and reasonable. From the simulations one can findthe control laws are effective and the objectives of the controllaws can be achieved.
Keywords:platoon control, time domain, lead vehicle
 
 
 

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