Longitudinal Control for Platoon Treated as One Dynamic System

Manabu Omae, Takehiko Fujioka, Koushiro Miyake

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, longitudinal control for a platoon as one dynamic system is proposed and evaluated. Difficulty of treating a platoon as one dynamic system is due to non-linearity and uncertainty included in the characteristics of tractive and brake forces. A robust model-matching controller is developed for solving the above problem. The characteristics of the tractive and brake forces are equivalent to those of a specific transfer function by the model-matching controller. A longitudinal controller for platooning is designed with assumption that the model-matching controller works on each constituent of the platoon. Velocity of the leading vehicle and each spaces between the constituents can be controlled independently and smoothly by the longitudinal controller. The proposed control system is suitable for changing space as well as fixing space, and has potential to make the platoon execute intelligent tasks according to the various kinds of situations.

Original languageEnglish
Pages (from-to)4714-4721
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number640
Publication statusPublished - 1999
Externally publishedYes


  • Advanced Vehicle Control Systems
  • Automobile
  • Decoupling
  • Intelligent Transport Systems
  • Longitudinal Control
  • Modeling
  • Motion Control
  • Platoon
  • Robust Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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