Kharitonov theorem을 이용한 이종 차량간 협력적응순항제어기 설계

Abstract

Different time constant values, which are characteristics of the vehicle"s independent engine dynamics, limit the stability of the system in implementing CACC. Therefore, in this paper, we propose a CACC design method which makes the control performance more robust by using Kharitonov theorem for CACC design which is required to satisfy the stability of system considering different values ofτ for each vehicle. The performance was validated via MATLAB/Simulink.