Stability and formation error of homogeneous vehicular platoons with communication time delays

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dc.creatorFernando de Oliveira Souza
dc.creatorLeonardo Antônio Borges Tôrres
dc.creatorLeonardo Amaral Mozelli
dc.creatorArmando Alves Neto
dc.date.accessioned2025-05-21T14:36:09Z
dc.date.accessioned2025-09-08T23:10:59Z
dc.date.available2025-05-21T14:36:09Z
dc.date.issued2019
dc.identifier.doihttps://doi.org/10.1109/TITS.2019.2939777
dc.identifier.issn1524-9050
dc.identifier.urihttps://hdl.handle.net/1843/82418
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE Transactions on intelligent transportation systems
dc.rightsAcesso Restrito
dc.subjectVeículos autônomos
dc.subject.otherTime delay
dc.subject.otherAutonomous vehicular platoon
dc.subject.otherMulti-agent formation control
dc.titleStability and formation error of homogeneous vehicular platoons with communication time delays
dc.typeArtigo de periódico
local.citation.epage4349
local.citation.spage4338
local.citation.volume21
local.description.resumoThe problem of decentralized control of vehicular platoon is addressed, subject to non-uniform time-varying delays in the communication links among the vehicles. Our control goal is to drive the vehicles to reach a specified line formation, while moving forward according to the platoon leader speed. The control law in each vehicle is computed only by local relative information regarding its neighboring vehicles. The first result shows that communication delays cause steady-state formation error, whose value can be analytically calculated from the system data, and may lead to instability, if the delays values surpass a threshold. Hence, in the light of this finding, we present a decentralized control law to compensate for the delay effect, providing zero steady-state formation error. The paper is concluded by showing simulated experiments over six different communication topologies illustrating the applicability of our proposal.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8844785

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