Vehicle Platoon Control with Virtual Path Constraints

Abstract

This paper studies distributed platoon control with virtual path constraints. Using transverse feedback linearization, the control approach decouples the platoon's dynamics into components tangential and transversal to the path. A platoon controller exclusively in the tangential subsystem controls the platoon's formation tangentially along the path, while a feedback control law in the transversal component stabilizes the platoon to remain on the path. As an application of the theory, a human-robot interaction experiment is performed on a platoon of quadrotors. The platoon leader implements an admittance controller, which allows the platoon to respond to human-applied forces. The path constraints limit the platoon's movement to only be along the path, ensuring safety to the interacting human.