Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles

C Santos, F Espinosa, E. Santiso, M. Martinez, M. Mazo

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

4 Citations (Scopus)

Abstract

—This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking non-linear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled.
A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a significant reduction in the number of times the channel is accessed. In addition, a decentralized self-triggered controller is designed for each follower to track
nonlinear trajectories. With this self-triggered approach, each vehicle monitors its own state only at precise instants. The main contribution of this proposal is to reduce the wireless channel load while preserving the tracking performance of the convoy.
Original languageEnglish
Title of host publicationProceedings of the 2015 IEEE 18th International Conference on Intelligent Transportation Systems
EditorsJJ Sanchez-Medina
Place of PublicationPiscataway, NJ, USA
PublisherIEEE Society
Pages1983-1988
Publication statusPublished - 2015
Event18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain - Piscataway, Gran Canaria, Spain
Duration: 15 Sep 201518 Sep 2015
Conference number: 18

Publication series

Name
PublisherIEEE

Conference

Conference18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain
Abbreviated titleITSC 2015
CountrySpain
CityGran Canaria
Period15/09/1518/09/15

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