Backstepping Control Design for Platooning Formation System in Down Scale Autonomous Truck Trailers

摘要

The platoon system is applied to an autonomous truck trailer. The control is designed for platoon longitudinal speed control using the backstepping integrator method with the control objective is to make the position error and speed error between the leader and follower are stable and converge to zero. The simulation results show the platoon controller accomplishes the required objective. Even when the velocity of the leader is accelerated or slowed down, the followers are still able to keep pace with the leader and to retain the desired distance relative to the leader.