Distributed PI Control For Heterogeneous Nonlinear Platoon of Autonomous Connected Vehicles. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Manfredi, Sabato; Petrillo, Alberto; Santini, Stefania
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 15229
• Page End: 15234
• Publication Date: 2020
• Subjects: Autonomous Vehicle Platoon -- Distributed PI Controller -- Heterogeneous Nonlinear Vehicle Dynamics -- Parameter Uncertainties; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2307
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper we present a distributed PI-based control law that guarantees the platoon formation to track leader velocity with a pre-fixed inter-vehicular distance, when vehicles are heterogeneous in both parameters and nonlinear drivetrain dynamics. Moreover, differently from most of the approaches in the literature, the proposed PI protocol intrinsically compensates for the nonlinear, heterogeneous and uncertain drivetrain dynamics without requiring any feedforward control action. We formulate sufficient conditions for closed-loop heterogeneous non-linear vehicular network stability that can be used to tune the PI control parameters. Simulation results confirm the effectiveness of the proposed PI controller in both nominal and uncertain platooning scenario.