An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

Abstract : In this paper, we study longitudinal motion control of car-like vehicles platoon navigating in an urban environment with minimum communication links. To achieve a higher traffic flow, a constant-spacing policy between successive vehicles is commonly used but this is at a cost of an increased number of communication links as any vehicle information must broadcast to all its followers. Therefore, we propose a distributed observer-based control law that depends both on communicated and measured information. Our formulation allows designing the control law directly in the curvilinear coordinates. Internal and string stability analysis are conducted. We provide simulation results, through dynamic vehicular mobility simulator, to illustrate the feasibility of the proposed approach and corroborate our theoretical findings.
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Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment. IEEE Conference on Decision and Control, Dec 2019, Nice, France. ⟨hal-02273504⟩

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