Provably safe cruise control of vehicular platoons
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Citation (published version)Sadra Sadraddini, S. Sivaranjani, Vijay Gupta, Calin Belta. 2017. "Provably Safe Cruise Control of Vehicular Platoons." IEEE Control Systems Letters, v. 1, issue 2, pp. 262 - 267.
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose: 1) a centralized control policy and 2) a distributed control policy, where each vehicle's control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included.