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  • The paper tailors the so-called wave-absorbing control designed for a homogenous platoon of vehicles to a platoon where dynamics of vehicles differ. The proposed solution is based on the symmetric bidirectional control of the in-platoon vehicles and wave-absorbing control of the platoon ends. This type of control reduces oscillations of vehicle's velocities and significantly decrease the settling time of the platoon by absorbing waves on the platoon ends. The necessary transfer-function-based mathematical apparatus for description of the so-called soft boundary is also presented. Although the soft boundary is a virtual boundary located between the vehicles of different dynamics, it significantly alters the behaviour of the platoon. It is shown how to incorporate model of the soft boundary into the design of the wave-absorbing control such that its effect is minimized. The proposed control scheme is verified on numerous mathematical simulations.
  • The paper tailors the so-called wave-absorbing control designed for a homogenous platoon of vehicles to a platoon where dynamics of vehicles differ. The proposed solution is based on the symmetric bidirectional control of the in-platoon vehicles and wave-absorbing control of the platoon ends. This type of control reduces oscillations of vehicle's velocities and significantly decrease the settling time of the platoon by absorbing waves on the platoon ends. The necessary transfer-function-based mathematical apparatus for description of the so-called soft boundary is also presented. Although the soft boundary is a virtual boundary located between the vehicles of different dynamics, it significantly alters the behaviour of the platoon. It is shown how to incorporate model of the soft boundary into the design of the wave-absorbing control such that its effect is minimized. The proposed control scheme is verified on numerous mathematical simulations. (en)
Title
  • Two-Sided Wave-Absorbing Control of a Heterogenous Vehicular Platoon
  • Two-Sided Wave-Absorbing Control of a Heterogenous Vehicular Platoon (en)
skos:prefLabel
  • Two-Sided Wave-Absorbing Control of a Heterogenous Vehicular Platoon
  • Two-Sided Wave-Absorbing Control of a Heterogenous Vehicular Platoon (en)
skos:notation
  • RIV/68407700:21230/14:00220894!RIV15-GA0-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GAP103/12/1794)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 51552
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/14:00220894
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Wave-absorbing controller; heterogenous vehicular platoon; symmetric bidirectional control; soft boundary; wave transfer function (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [24ADD5AE6367]
http://linked.open...v/mistoKonaniAkce
  • Cape Town
http://linked.open...i/riv/mistoVydani
  • Pretoria
http://linked.open...i/riv/nazevZdroje
  • Proceedings of The 19th World Congress of the International Federation of Automatic Control
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Šebek, Michael
  • Martinec, Dan
  • Herman, Ivo
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
issn
  • 1474-6670
number of pages
http://purl.org/ne...btex#hasPublisher
  • IFAC
https://schema.org/isbn
  • 978-3-902823-62-5
http://localhost/t...ganizacniJednotka
  • 21230
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