TY - GEN
T1 - LONGITUDINAL CONTROL of PLATOON TREATED AS ONE DYNAMIC SYSTEM
AU - Omae, Manabu
AU - Fujioka, Takehiko
N1 - Publisher Copyright:
© 1998 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1998
Y1 - 1998
N2 - In this paper, longitudinal control for a platoon as one dynamic model is investigated by simulation. Difficulty of treating a platoon as one dynamic model is due to non-linearity and uncertainty included in the characteristic of tractive and brake force. A robust model-matching controller is developed for solving the above problem. The characteristic of the tractive and brake force is equivalent to those of a specific transfer function by the modelmatching controller. A longitudinal controller for platooning is developed with assumption that the model-matching controller works on each constituent of the platoon. Velocity of the leading vehicle and each spaces between the constituents can be controlled independently and smoothly by the longitudinal controller. The proposed control system is suitable for changing space as well as fixing space, and enables the platoon to execute intelligent tasks according to the various kinds of situations.
AB - In this paper, longitudinal control for a platoon as one dynamic model is investigated by simulation. Difficulty of treating a platoon as one dynamic model is due to non-linearity and uncertainty included in the characteristic of tractive and brake force. A robust model-matching controller is developed for solving the above problem. The characteristic of the tractive and brake force is equivalent to those of a specific transfer function by the modelmatching controller. A longitudinal controller for platooning is developed with assumption that the model-matching controller works on each constituent of the platoon. Velocity of the leading vehicle and each spaces between the constituents can be controlled independently and smoothly by the longitudinal controller. The proposed control system is suitable for changing space as well as fixing space, and enables the platoon to execute intelligent tasks according to the various kinds of situations.
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U2 - 10.1115/IMECE1998-0318
DO - 10.1115/IMECE1998-0318
M3 - Conference contribution
AN - SCOPUS:85124334125
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 691
EP - 703
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1998 International Mechanical Engineering Congress and Exposition, IMECE 1998
Y2 - 15 November 1998 through 20 November 1998
ER -