A PLF-CACC Design with Robustness to Communication Delays

Khadir Besseghieur, Abdelkrim Nemra, Fethi Demim

2023

Abstract

In this paper, a new controller that makes a platoon of vehicles robust to large delays and loss of communication is proposed. The constant time headway spacing policy is adopted for the separations while the vehicles are allowed to exchange data according to the PLF communication pattern. Based on the SMC technique, the designed controller draw the platoon towards achieving the following and the string stability objectives. Semi strict L2 string stability is proved to be achieved in this two-vehicle look ahead strategy with the propose controller. Simulation are run in order to confirm the theoretical findings and to assess the effectiveness of the proposed controller. The performances in terms of string stability and robustness against delays are compared to a baseline PLF-CACC from the literature.

Paper Citation

in Harvard Style

Besseghieur K., Nemra A. and Demim F. (2023). A PLF-CACC Design with Robustness to Communication Delays. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 444-452. DOI: 10.5220/0012190500003543

in Bibtex Style

@conference{icinco23,
author={Khadir Besseghieur and Abdelkrim Nemra and Fethi Demim},
title={A PLF-CACC Design with Robustness to Communication Delays},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={444-452},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012190500003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A PLF-CACC Design with Robustness to Communication Delays
SN - 978-989-758-670-5
AU - Besseghieur K.
AU - Nemra A.
AU - Demim F.
PY - 2023
SP - 444
EP - 452
DO - 10.5220/0012190500003543
PB - SciTePress