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Distributed Model Reference Control for Cooperative Tracking of Vehicle Platoons Subjected to External Disturbances and Bounded Leader Input

Agung Prayitno and Itthisek Nilkhamhang*
International Journal of Control, Automation, and Systems, vol. 20, no. 6, pp.2067-2080, 2022

Abstract : This paper proposes a distributed model reference controller (DMRC) for cooperative tracking of vehicle platoons subjected to unknown external disturbances and bounded, non-zero leader input. The vehicle-to-vehicle communication network topology is assumed to be directed and contains at least one spanning tree with the leader as a root node. The proposed scheme utilizes the cooperative tracking error reference as a virtual reference for each follower. The main control system is designed using cooperative tracking error and cooperative disagreement error to attenuate the effects of unknown external disturbance and allow for bounded leader input. The global disagreement error is shown to be uniformly ultimately bounded through detailed stability analysis, such that the states of each follower synchronize to the leader states with bounded residual error, and guarantees input-to-state string stability (ISSS) of the platoon. Performance verification is conducted through simulations and validates the efficacy of DMRC for the vehicle platoon problem.

Keyword : Cooperative state variable feedback, cooperative tracking, directed topology, distributed model reference control, string stability, vehicle platoon.

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