Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons

Multi-Rate Switched Pinning Control for Velocity Control of Vehicle Platoons

“…Motivated by the above, the previous work of the current authors studies a switched pinning control (SPC) method [12], [13]. The SPC method selects and switches the pinning agents from the given MASs.…”

“…The first one is that the effect against the string instability is not evaluated. The platoon model [12], [13] does not include inter-vehicular distance control. Instead of having no inter-vehicular distance control performance, the string instability does not occur and we cannot evaluate the effect of SPC against it.…”

“…This paper proposes a multi-rate switched pinning control (multi-rate SPC) algorithm to solve these two problems. For the first problem, we reformulate the optimal problem in [12], [13] using platoon models with adaptive cruise control (ACC). The new optimization problem considers the intervehicular distance control in addition to our previous studies [12], [13].…”

“…For the first problem, we reformulate the optimal problem in [12], [13] using platoon models with adaptive cruise control (ACC). The new optimization problem considers the intervehicular distance control in addition to our previous studies [12], [13]. ITS optimizes the pinning agents to minimize errors of predicted inter-vehicular distances and velocities to the targets.…”

“…The conference paper of the current authors [16] also focuses on the optimization rate and introduces an event triggering mechanism to design the pinning agents' switching rate. The existing event-triggering mechanism of pinning control in [17] designs the control input timing against the pinning agents and its focus differs from the idea of [16]. This paper brushes up the idea of the conference paper [16] as a multi-rating mechanism and adds the discussion of string instability.…”