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A Lyapunov function approach to longitudinal control of vehicles in a platoon

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3 Author(s)
Tae Soo no ; Dept. of Aerosp. Eng., Chonbuk Nat. Univ., Chonju, South Korea ; Kil-To Chong ; Do-Hwan Roh

The Lyapunov second method is used to derive a control law that can he used to control the spacing between vehicles in a platoon. A third-order system is adopted to model the vehicle and powertrain dynamics. In addition, the concept of “expected spacing error” is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A platoon of four vehicles and various scenarios are used to demonstrate the performance of the proposed control law

Published in:

IEEE Transactions on Vehicular Technology  (Volume:50 ,  Issue: 1 )