Automotive Science and Engineering

fa Internal and string stability analyses of longitudinal platoon of vehicles with communication delay and actuator lag under constant spacing policy موتور احتراق داخلی Internal Combustion Engines (ICE, ...) پژوهشي Research  This paper studies the longitudinal control of a group of vehicles following a lead vehicle. A  neighbor based upper level controller is proposed by considering communication delay and actuator lag. Constant spacing policy is used between successive vehicles. Two different approaches based on Lyapunov-Razumikhin and Lyapuniv-Krassovski theorems are presented to stability analysis of closed loop dynamic. By simulation studies, it will be shown that the second approach is less conservatism than the first one. We consider the bidirectional leader following (BDLF) topology for inter-vehicle communication. Based on this structure, some sufficient conditions assuring string stability of platoon is derived. At the end of paper, four different scenarios are presented to study the robustness of algorithm against communication delay, actuator lag, disturbance, heterogeny and communication losses.  latoon of vehicles, Communication delay, String stability, Internal stability,Actuator lag. 2482 2494 http://ase.iust.ac.ir/browse.php?a_code=A-10-315-4&slc_lang=fa&sid=1 H. Chehardoli 180031947532846002451 180031947532846002451 Yes M.R. Homainezhad 180031947532846002452 180031947532846002452 No