A systematic antiwindup strategy and the longitudinal control of a platoon of vehicles with control saturations

Scan C. Warnick, Armando Rodriguez

Research output: Contribution to journalArticlepeer-review

26 Scopus citations


Current methodologies for designing control systems usually ignore the effects of control saturations. For vehicle platooning, this can be especially disastrous since the performance of a platoon of nonidentical vehicles is, in general, severely limited by saturating control signals. This paper presents a systematic design procedure for adapting a nominal controller, designed without regard to control saturation, to a higher performance nonlinear controller that explicitly accounts for the saturating nonlinearities while preserving stability. In particular, the error governor (EG) scheme proposed by Kapasouris et al. [10] is extended and applied to the IVHS problem found in [13]. This extension is a less conservative strategy that explicitly accounts for an important class of controller designs, including proportional control and a class of nonlinear feedback designs. Results of the study demonstrate that severe windup found in nominal platooning applications can systematically be eliminated without loss of steady-state performance. This significantly increases the range of maneuvers open to the lead vehicle,: thus enhancing the utility of a proposed design. An extensive simulation of a 15-car platoon of nonidentical vehicles with nonlinear vehicle models illustrates these results.

Original languageEnglish (US)
Pages (from-to)1006-1016
Number of pages11
JournalIEEE Transactions on Vehicular Technology
Issue number3
StatePublished - 2000


  • Nonlinear control

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics


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