Longitudinal control of a platoon of vehicles with multiple saturating nonlinearities

Sean C. Warnick, Armando Rodriguez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This study applies a systematic design procedure for addressing multiple saturating nonlinearities in a control system to the problem of longitudinally controlling a platoon of vehicles. The key idea in the design methodology is to modify the existing platoon controller with a supervisor loop that acts only when necessary to prevent saturation. The novelty of this paper appears in the application of this method to nonlinear vehicle and compensator models, and in the development of a decentralized series of such supervisor loops that exploits the natural structure of multivehicle longitudinal control problems. Results of the study are that wind-up effects can systematically be eliminated, but at a cost to performance.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherAmerican Automatic Control Council
Pages403-407
Number of pages5
Volume1
StatePublished - 1994
Externally publishedYes
EventProceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA
Duration: Jun 29 1994Jul 1 1994

Other

OtherProceedings of the 1994 American Control Conference. Part 1 (of 3)
CityBaltimore, MD, USA
Period6/29/947/1/94

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Warnick, S. C., & Rodriguez, A. (1994). Longitudinal control of a platoon of vehicles with multiple saturating nonlinearities. In Proceedings of the American Control Conference (Vol. 1, pp. 403-407). American Automatic Control Council.