Work

Improving the Design of Linear Controllers for Platooning under Disturbances

Year: 2025

Type: article

Abstract: This paper addresses the challenge of longitudinal platooning control for homogeneous vehicles subjected to internal and external disturbances, including wind gusts, road slopes, and parametric uncertainties. The goal is to maintain a constant distance between neighboring vehicles in a decentralized manner. To achieve this, we propose an enhanced control law that incorporates the integral of the spacing error when computing acceleration commands. This improvement enables the controller to effectively reject steady-state disturbances. We establish formal conditions for the controller synthesis under general look-ahead and bidirectional topologies. Finally, experiments using non-linear vehicle models in the high-fidelity CARLA simulator validate the effectiveness of our approach.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2025.07.019

Authors: E.A. Silva, L.A. Mozelli, A. Alves-Neto, F.O. Souza, Anh-Tu Nguyen

Institutions: Universidade Federal de Minas Gerais, Centre National de la Recherche Scientifique, Laboratoire d'Automatique, de Mécanique et d'Informatique Industrielles et Humaines, INSA Hauts-de-France, Université Polytechnique Hauts-de-France

Language: English

Topic: Traffic control and management

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funders: Coordenação de Aperfeiçoamento de Pessoal de Nível Superior, Conselho Nacional de Desenvolvimento Científico e Tecnológico

OpenAlex ID: W4413097451

FWCI:

Cites: 21

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Related to: 10