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Research Papers

# Platoon Control Under a Novel Leader and Predecessor Following Scheme With the Use of an Advanced Aerodynamic Model

[+] Author and Article Information
Hakan Köroğlu

Department of Signals and Systems,
Chalmers University of Technology,
Gothenburg 41296, Sweden
e-mail: hakankoroglu@yahoo.com

Maryam Mirzaei

Department of Applied Mechanics,
Chalmers University of Technology,
Gothenburg 41296, Sweden
e-mail: maryam.mirzaei@chalmers.se

Paolo Falcone

Department of Signals and Systems,
Chalmers University of Technology,
Gothenburg 41296, Sweden
e-mail: paolo.falcone@chalmers.se

Siniša Krajnović

Department of Applied Mechanics,
Chalmers University of Technology,
Gothenburg 41296, Sweden
e-mail: sinisa@chalmers.se

1Corresponding author.

2Present address: Ericsson AB, Stockholm 16480, Sweden.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 4, 2017; final manuscript received August 11, 2017; published online November 10, 2017. Assoc. Editor: Beshah Ayalew.

J. Dyn. Sys., Meas., Control 140(4), 041006 (Nov 10, 2017) (13 pages) Paper No: DS-17-1008; doi: 10.1115/1.4037655 History: Received January 04, 2017; Revised August 11, 2017

## Abstract

The longitudinal platoon control problem is considered under a leader and predecessor following scheme with a novel velocity-dependent spacing policy. With this spacing policy, the steady-state intervehicle distances increase with increasing cruise velocity and more so for vehicles that are closer to the leader. Since significant changes might be encountered in intervehicle distances during the travel due to the variations in the velocity of the leader, the problem is studied together with a more accurate modeling of aerodynamic effects within a platoon formation. Based on a standard feedback linearization approach, a dynamic output feedback synthesis problem is formulated with two $H∞$ performance objectives. One of the performance objectives is linked to the string stability of the platoon formation, while the other can be shaped in a way to maintain small spacing errors without aggressive vehicle maneuvers. A synthesis procedure is then outlined based on linear matrix inequality optimization (LMI). The new control scheme is investigated for a three-vehicle platoon by using an advanced aerodynamic model developed based on extensive fluid dynamic simulations. It is observed in this investigation that a desirable platoon operation can be achieved even with a simple aerodynamic model, provided that the controller is designed in a way to ensure good disturbance attenuation. Nevertheless, an accurate modeling of aerodynamic disturbances might be needed especially for the first vehicle after the leader when the cruising velocity varies over a wide range.

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## Figures

Fig. 1

Basic ingredients of the platoon model

Fig. 2

Schematic view of the Ahmed bodies used in the present study: (a) whole computational domain: three Ahmed bodies in tandem and (b) side (left) and back (right) views of a single Ahmed body

Fig. 4

Optimization results

Fig. 3

Drag reduction factor variations with intervehicle distances: (a) leading vehicle, (b) first vehicle, and (c) second vehicle

Fig. 6

Example simulations

Fig. 5

Bode magnitude plots

## Errata

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