Platoon Control under a Novel Leader and Predecessor Following Scheme with the Use of an Advanced Aerodynamic Model
Journal article, 2018

The longitudinal platoon control problem is considered under a leader and predecessor following scheme with a novel velocity-dependent spacing policy. With this spacing policy, the steady-state inter-vehicle distances increase with increasing cruise velocity and more so for vehicles that are closer to the leader.} Since significant changes might be encountered in inter-vehicle distances during the travel due to the variations in the velocity of the leader, the problem is studied together with a more accurate modeling of aerodynamic effects within a platoon formation. Based on a standard feedback linearization approach, a dynamic output feedback synthesis problem is formulated with two H_infinity performance objectives. One of the performance objectives is linked to the string stability of the platoon formation, while the other can be shaped in a way to maintain small spacing errors without aggressive vehicle maneuvers. A synthesis procedure is then outlined based on linear matrix inequality optimization. The new control scheme is investigated for a three-vehicle platoon by using an advanced aerodynamic model developed based on extensive fluid dynamics simulations. It is observed in this investigation that a desirable platoon operation can be achieved even with a simple aerodynamic model, provided that the controller is designed in a way to ensure good disturbance attenuation. Nevertheless an accurate modeling of aerodynamic disturbances might be needed especially for the first vehicle after the leader when the cruising velocity varies over a wide range.

string stability

aerodynamic modeling

LMI optimization

vehicle platoons

automated vehicle

longitudinal control

adaptive cruise control

multi-objective optimal control


Hakan Köroglu

Chalmers, Electrical Engineering, Systems and control

Maryam Mirzaei

Chalmers, Mechanics and Maritime Sciences (M2), Fluid Dynamics

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control

Sinisa Krajnovic

Chalmers, Mechanics and Maritime Sciences (M2), Fluid Dynamics

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

0022-0434 (ISSN)

Vol. 140 4 041006

Driving Forces

Sustainable development

Areas of Advance



Subject Categories

Control Engineering



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