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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. |
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Keywords:platoon control, time domain, lead vehicle |
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