Volume 11, Issue 3 (9-2021)                   ASE 2021, 11(3): 3579-3593 | Back to browse issues page

XML Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Chehardoli H. A PDE-based approach to internal and string stability analysis of large-scale bi-directional vehicular platoons. ASE 2021; 11 (3) :3579-3593
URL: http://www.iust.ac.ir/ijae/article-1-587-en.html
A PDE-based approach to internal and string stability analysis of large-scale bi-directional vehicular platoons
Hossein Chehardoli
Department of Mechanical Engineering, Ayatollah Boroujerdi University
Abstract:   (6174 Views)
This paper considers the asymptotic zero tracking error as well as string stability of large-scale automated vehicle convoys (LAVC). Both centralized and decentralized bi-directional network topologies are investigated. A double integrator dynamical equation is defined to describe the 1-D dynamics of automated vehicles (AV). A centralized / decentralized controller which employs the relative displacement and velocity compared with the backward and forward AVs is defined for all following AVs. Since the dynamical equation of LAVC is hard to be analyzed for internal stability, a PDE-based approach is introduced to decouple and reduce the closed-loop dynamical equation.  According to this approach, we will be able to decouple the dynamical equation of all AVs individually based on the error dynamics. After simplifying the dynamical equation of LAVC, the conditions satisfying the internal stability of centralized and decentralized networks are obtained. After that, algebraic analyses in frequency domain will able us to find the constraints on control gains guaranteeing the string stability. Simulation and experimental results are available to describe the merits of this algorithm.
Keywords: Large-scale vehicular platoons, Internal stability, String stability, PDE-based approach, Decoupling.
Full-Text [PDF 583 kb]   (5106 Downloads)    
Type of Study: Research | Subject: Control
Add your comments about this article : Your username or Email:
CAPTCHA
Send email to the article author

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

© 2022 All Rights Reserved | Automotive Science and Engineering

Designed & Developed by : Yektaweb