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 language | English (US) |
|---|---|
| Title of host publication | Proceedings of the American Control Conference |
| Publisher | American Automatic Control Council |
| Pages | 403-407 |
| Number of pages | 5 |
| Volume | 1 |
| State | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA Duration: Jun 29 1994 → Jul 1 1994 |
Other
| Other | Proceedings of the 1994 American Control Conference. Part 1 (of 3) |
|---|---|
| City | Baltimore, MD, USA |
| Period | 6/29/94 → 7/1/94 |
ASJC Scopus subject areas
- Control and Systems Engineering