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This paper presents a novel vehicle platoon control algorithm using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) wireless communications between platoon members. A platoon forms a chain of vehicles (e.g., trucks) for improved traffic and fuel efficiency. Platooning algorithms aim to maintain small inter-vehicular distance between vehicles under dynamic driving conditions like acceleration...
This paper presents a novel control design framework for vehicle platooning together with its experimental validation. The problem of controlling the vehicles within a platoon, so that they converge to their desired velocities and intervehicle distances, is formulated as a high-order network consensus problem. By means of Lyapunov–Razumikhin functions, convergence is proven of the platoon to the desired...
This paper is devoted to the study of multi-agent consensus with a time-varying reference state in directed networks with both switching topology and time-varying delay. Stability analysis is performed based on a proposed Lyapunov-Krasovskii function. Sufficient conditions based on linear matrix inequalities (LMIs) are given to guarantee multi-agent consensus on a time-vary reference state under arbitrary...
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