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Disturbance Propagation in Vehicle Strings
Abstract
This note focuses on disturbance propagation in vehicle strings. It is known that using only relative spacing information to follow a constant distance behind the preceding vehicle leads to string instability. Specifically, small disturbances acting on one vehicle can propagate and have a large effect on another vehicle. We show that this limitation is due to a complementary sensitivity integral constraint. We also examine how the disturbance to error gain for an entire platoon scales with the number of vehicles. This analysis is done for the predecessor following strategy as well as a control structure where each vehicle looks at both neighbors.
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Cited by
String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach
Naus, G. J. L., Vugts, R. P. A., Ploeg, J., van de Molengraft, M. J. G., & Steinbuch, M. (2010) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2010.2076320 · Cited by 916
A survey of inter-vehicle communication protocols and their applications
Willke, T., Tientrakool, P., & Maxemchuk, N. (2009) · IEEE Communications Surveys & Tutorials · doi:10.1109/surv.2009.090202 · Cited by 478
A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Wang, Z., Bian, Y., Shladover, S. E., Wu, G., Li, S. E., & Barth, M. J. (2020) · IEEE Intelligent Transportation Systems Magazine · doi:10.1109/mits.2019.2953562 · Cited by 316
Metadata
- Authors
- Seiler, P., Pant, A., & Hedrick, K.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2004-10
- Volume
- 49
- Issue
- 10
- Pages
- 1835-1841
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2101691062
- Cited by
- 613
- References
- 0
- FWCI
- 12.13
- Type
- journal article
- Language
- en
- Open access
- closed
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