String stable integral control design for vehicle platoons with disturbances

This paper presents a control design with integral action for vehicle platoons with disturbances that ensures string stability of the closed-loop system and disturbance rejection. The addition of integral action and a coordinate change allows the development of sufficient smoothness conditions on th...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 127; p. 109542
Main Authors Silva, Guilherme Fróes, Donaire, Alejandro, McFadyen, Aaron, Ford, Jason J.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.05.2021
Subjects
Multi-agent systems
String stability
Vehicle platoons
Vehicle platoons
String stability
Multi-agent systems
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Summary:This paper presents a control design with integral action for vehicle platoons with disturbances that ensures string stability of the closed-loop system and disturbance rejection. The addition of integral action and a coordinate change allows the development of sufficient smoothness conditions on the closed-loop system to ensure that the closed-loop system using the proposed controller is string stable when subject to time-varying disturbances, while rejecting constant disturbances. In addition, bounds for the tracking error of the platoon configuration are also given. A case study is considered together with a suitable controller structure, which satisfies the required smoothness conditions. Simulation results illustrate the performance of the closed-loop system.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2021.109542