Robust platoon-stable controller design for autonomous intelligent vehicles

Authors:
A. Stotsky;C. -C. Chien;P. Ioannou
Affiliations:
Center for Advanced Transportation Technologies Department of Electrical Engineering-Systems University of Southern California, Los Angeles, CA 90089-2562, U.S.A.;Opto-Electronics & Systems Laboratory Industrial Technology Research Institute Building 195 Chung Hsing Road, Section 4, Chutung Hsinchu 31015, Taiwan, R.O.C.;Center for Advanced Transportation Technologies Department of Electrical Engineering-Systems University of Southern California, Los Angeles, CA 90089-2562, U.S.A.
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
1995

Citing 1
Cited 1

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Abstract

A new variable structure longitudinal controller is designed and analyzed for an autonomous intelligent vehicle. The proposed controller not only guarantees individual vehicle stability, but also platoon stability. Moreover, the achieved platoon stability is proven to be robust with respect to vehicle parameter uncertainties and unknown time varying disturbances. Explicit transient bounds are obtained which indicate ways of choosing controller parameters for comfortable driving.