[PDF][PDF] String stability for predecessor following platooning over lossy communication channels
International Symposium on Mathematical Theory of Networks and Systems, 2018•mtns2018.ust.hk
We study a platooning scheme where the commu-nication between agents is made through
lossy channels. Each agent is modelled as a discrete-time LTI system controlled by a
discrete-time LTI controller. The lossy channels are modelled using Bernoulli processes that
represent random data dropouts. We consider a scheme that forces inter-vehicle spacings
that increase with agents velocities. This is known as a constant time headway spacing
policy, which has been shown to provide string stability for predecessor-following …
lossy channels. Each agent is modelled as a discrete-time LTI system controlled by a
discrete-time LTI controller. The lossy channels are modelled using Bernoulli processes that
represent random data dropouts. We consider a scheme that forces inter-vehicle spacings
that increase with agents velocities. This is known as a constant time headway spacing
policy, which has been shown to provide string stability for predecessor-following …
Abstract
We study a platooning scheme where the commu-nication between agents is made through lossy channels. Each agent is modelled as a discrete-time LTI system controlled by a discrete-time LTI controller. The lossy channels are modelled using Bernoulli processes that represent random data dropouts. We consider a scheme that forces inter-vehicle spacings that increase with agents velocities. This is known as a constant time headway spacing policy, which has been shown to provide string stability for predecessor-following architectures. We analyse how the lossy channels impact the platoon string stability.
mtns2018.ust.hk
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