Platooning Control of Vehicular Systems by Using Sampled Positions
Jin Zhang, Chen Peng, Xiangpeng Xie
Abstract
This brief studies the platooning control problem of vehicular systems, where the leader control input is non-zero. In contrast to the existing results with full knowledge of the vehicle state (i.e., position, velocity, and acceleration) for feedback, a new platoon control law is designed, which depends on the currently and most recently sampled positions only. To explore the input-to-state stability (ISS) of the resulting platoon control system, sufficient conditions are presented in the form of linear matrix inequalities (LMIs) by using appropriate Lyapunov functionals. Then a design criterion for the existence of the sampled-position-based controller is derived. Finally, an example illustrates the efficiency of the method.