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Position Deviation Based Second-Order Consensus in Multiple Vehicle Systems

Jie Quan  Guoping Jiang  
【摘要】:For second-order dynamic model of multi-vehicle system, we investigate a second-order consensus protocol for the system in the case of collecting information without time-delay. By introducing position tracking value, we propose a simple second-order consensus protocol, making the states of each vehicle converge to the given tracking values. The necessary and sufficient condition under which second-order consensus can be reached is derived by using the system stability theory. The second consensus is then applied to the multiple vehicle systems with four vehicles as an illustrative example.

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1 WANG Le Yi;SYED Ali;YIN Gang George;PANDYA Abhilash;ZHANG Hongwei;;CONTROL OF VEHICLE PLATOONS FOR HIGHWAY SAFETY AND EFFICIENT UTILITY:CONSENSUS WITH COMMUNICATIONS AND VEHICLE DYNAMICS[J];Journal of Systems Science & Complexity;2014年04期
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