IDEAS home Printed from https://ideas.repec.org/p/cdl/itsrrp/qt99b9w5v1.html
   My bibliography  Save this paper

A Parmetric Study of Platoon Dynamics and Robust H[infinity] Controller Design

Author

Listed:
  • Oh, Pahngroc
  • Packard, Andy
  • Tongue, Benson H.

Abstract

A comprehensive simulation capability is presented for the analysis of vehicular platoons with or without collisions. A separate collision module (CDM) is integrated within the Platoon Simulation Package (PSP) to allow the recognition and dynamic simulation of intra- platoon collisions. Test simulations are presented and an alternative control strategy, one based on H , optimization, is described. This control approach allows an explicit account to be taken unknown disturbances and system variations, i.e. it produces a robust design.

Suggested Citation

  • Oh, Pahngroc & Packard, Andy & Tongue, Benson H., 1999. "A Parmetric Study of Platoon Dynamics and Robust H[infinity] Controller Design," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt99b9w5v1, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt99b9w5v1
    as

    Download full text from publisher

    File URL: https://www.escholarship.org/uc/item/99b9w5v1.pdf;origin=repeccitec
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Sheikholeslam, Shahab & Desoer, Charles A., 1990. "Longitudinal Control Of A Platoon Of Vehicles. III, Nonlinear Model," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt0dx8t12z, Institute of Transportation Studies, UC Berkeley.
    2. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collision Dynamics And Emergency Maneuvering IV: Intra-platoon Collision Behavior And A New Control Approach For Platoon Operation During Vehicle Exit/entry - Final Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3w66p6b3, Institute of Transportation Studies, UC Berkeley.
    3. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collison Dynamics And Emergency Maneuvering III: Platoon Collison Models And Simulations," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4kr4r8vm, Institute of Transportation Studies, UC Berkeley.
    4. Sheikholeslam, Shahab & Desoer, Charles A., 1989. "Longitudinal Control Of A Platoon Of Vehicles. Ii, First And Second Order Time Derivatives Of Distance Deviations," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5gf5m9jw, Institute of Transportation Studies, UC Berkeley.
    5. Sheikholeslam, Shahab & Desoer, Charles A., 1989. "Longitudinal Control Of A Platoon Of Vehicles. I, Linear Model (ucb/erl M89/106)," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7ns408fp, Institute of Transportation Studies, UC Berkeley.
    6. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collision Dynamics And Emergency Maneuvering II: Platoon Simulations For Small Disturbances," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7fp446px, Institute of Transportation Studies, UC Berkeley.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Tongue, Benson H. & Packard, Andrew & Harriman, Douglas, 1997. "A Vehicle Collision Model for Platoon Controller Development," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3nz5d4vf, Institute of Transportation Studies, UC Berkeley.
    2. Tongue, Benson H. & Packard, Andy & Sachi, Paul, 1997. "Qualitative Analysis on the Performance of Non-uniform Platoons: Report I; Non-uniformities and Performance Issues," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3sw4r1ph, Institute of Transportation Studies, UC Berkeley.
    3. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collision Dynamics And Emergency Maneuvering IV: Intra-platoon Collision Behavior And A New Control Approach For Platoon Operation During Vehicle Exit/entry - Final Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3w66p6b3, Institute of Transportation Studies, UC Berkeley.
    4. Tongue, Benson H. & Packard, Andrew, 1998. "Approximate Method To Determine The Worst Case Performance Of A Nonlinear Dynamical System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt8jn231kj, Institute of Transportation Studies, UC Berkeley.
    5. Lygeros, John & Godbole, Datta N., 1994. "An Interface Between Continuous And Discrete-event Controllers For Vehicle Automation," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt66h9q6qw, Institute of Transportation Studies, UC Berkeley.
    6. Lygeros, John & Lynch, Nancy, 2000. "Conditions for Safe Deceleration of Strings of Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt306410hv, Institute of Transportation Studies, UC Berkeley.
    7. Alvarez, Luis & Horowitz, Roberto, 1997. "Safe Platooning In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1v97t5w1, Institute of Transportation Studies, UC Berkeley.
    8. Hsu, Ann & Eskafi, Farokh & Sachs, Sonia & Varaiya, Pravin, 1991. "Design Of Platoon Maneuver Protocols For IVHS," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt89c6p0cn, Institute of Transportation Studies, UC Berkeley.
    9. Broucke, M. & Varaiya, P., 1995. "A Theory Of Traffic Flow In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4h41g68m, Institute of Transportation Studies, UC Berkeley.
    10. Tongue, Benson & Moon, Ahrie & Harriman, Doug, 1996. "Low Speed Collision Dynamics: Second Year Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7kx3j3xp, Institute of Transportation Studies, UC Berkeley.
    11. Bae, Hong S. & Gerdes, J. Christian, 2003. "Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt6s35h1ch, Institute of Transportation Studies, UC Berkeley.
    12. Yanakiev, Diana & Eyre, Jennifer & Kanellakopoulos, Ioannis, 1998. "Analysis, Design, And Evaluation Of Avcs For Heavy-duty Vehicles With Actuator Delays," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt931877r2, Institute of Transportation Studies, UC Berkeley.
    13. Corli, Andrea & Fan, Haitao, 2023. "String stability in traffic flows," Applied Mathematics and Computation, Elsevier, vol. 443(C).
    14. Yanakiev, Diana & Eyre, Jennifer & Kanellakopoulos, Ioannis, 1998. "Longitudinal Control Of Heavy Duty Vehicles: Experimental Evaluation," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt86g348m8, Institute of Transportation Studies, UC Berkeley.
    15. Karaaslan, Ufuk & Varaiya, Pravin & Walrand, Jean, 1990. "Two Proposals To Improve Freeway Traffic Flow," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2451z0qx, Institute of Transportation Studies, UC Berkeley.
    16. Zhao, Shuaidong & Zhang, Kuilin, 2020. "A distributionally robust stochastic optimization-based model predictive control with distributionally robust chance constraints for cooperative adaptive cruise control under uncertain traffic conditi," Transportation Research Part B: Methodological, Elsevier, vol. 138(C), pages 144-178.
    17. Malik, J. & Russell, S., 1995. "A Machine Vision Based Surveillance System for California Roads," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1hh5x9jw, Institute of Transportation Studies, UC Berkeley.
    18. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collison Dynamics And Emergency Maneuvering III: Platoon Collison Models And Simulations," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4kr4r8vm, Institute of Transportation Studies, UC Berkeley.
    19. Tongue, Benson H. & Moon, Ahrie, 1995. "Low Speed Collison Dynamics And Control: Year One Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3bf7r6nm, Institute of Transportation Studies, UC Berkeley.
    20. Chira-Chavala, Ted & Yoo, S. M., 1992. "Feasibility Study Of Advanced Technology Hov Systems: Volume 1: Phased Implementation Of Longitudinal Control Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2wh2v2vc, Institute of Transportation Studies, UC Berkeley.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:cdl:itsrrp:qt99b9w5v1. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Lisa Schiff (email available below). General contact details of provider: https://edirc.repec.org/data/itucbus.html .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.