Simulation Study of Vehicle Platooning Maneuvers with Full-State Tracking Control

Danwei Wang (), Minhtuan Pham and Cat T. Phampt ()
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Danwei Wang: Nanyang Technological University, School of Electrical and Electronic Engineering
Minhtuan Pham: Nanyang Technological University, School of Electrical and Electronic Engineering
Cat T. Phampt: Institute of Information Technology National Center for Sciences and Technology, Department of Automation Technology

A chapter in Modeling, Simulation and Optimization of Complex Processes, 2005, pp 539-548 from Springer

Abstract: Summary The paper presents a co-simulation platform to study the motion and control of a vehicle platooning system. In the study of a vehicle platooning system, the key factors include dynamic performance of all vehicles, the relative positions and oriantations of between vehicles, and the real-time interactions between an advanced controller and an autonomous vehicle in the platooning formation. This co-simulation platform features all these key components by integrating two soft-wares: ADAMS and MATLAB/SIMULINK. The advantages of ADAMS in mechanical system prototyping and those of MATLAB in advanced controller designing are exploited and combined to offer an integrated, visual and pseudo-practical platform for the investigation of control systems of mobile robots. The platooning dynamics is modelled in ADAMS with multiple vehicles with proper driving, steering mechanisms and sensing system to detect the distances and relative orientations between vehicles. An advanced nonlinear tracking controller is modelled in SIMULINK. The co-simulation of the platooning dynamics and the advanced controller is made possible by proper definition of inputs/outputs variables. This co-simulation platform is illustrated by a pair of car-like vehicles modelled in ADAMS with a nonlinear controller built in SIMULINK.

Date: 2005
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-540-27170-3_40

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DOI: 10.1007/3-540-27170-8_40

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