RESEARCH PAPERS: Transportation Papers

Longitudinal Control of Automated Guideway Transit Vehicles Within Platoons

[+] Author and Article Information
S. E. Shladover

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Mass. 02139

J. Dyn. Sys., Meas., Control 100(4), 302-310 (Dec 01, 1978) (9 pages) doi:10.1115/1.3426382 History: Received October 31, 1978; Online July 13, 2010


This paper demonstrates, via analysis and simulation, the feasibility of a vehicle-follower control system which maintains intervehicular spacings of 30–60 cm within platoons of automated guideway transit (AGT) vehicles. Asymptotic stability of the platoon is shown to be achievable when each vehicle references its speed to that of the platoon leader. Jerk limiting, which is regarded as essential for all AGT longitudinal controllers, is shown to be potentially destabilizing. The nonlinear effects produced by the jerk limiter are analyzed by use of describing functions, and it is demonstrated how the undesirable effects can be avoided.

Copyright © 1978 by ASME
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