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Journal of Advanced Transportation
Volume 2017, Article ID 8023018, 8 pages
Research Article

Consensus Based Platoon Algorithm for Velocity-Measurement-Absent Vehicles with Actuator Saturation

School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China

Correspondence should be addressed to Maode Yan; nc.ude.dhc@naydm

Received 1 June 2017; Accepted 19 July 2017; Published 20 August 2017

Academic Editor: Cheng S. Chin

Copyright © 2017 Maode Yan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We investigate the vehicle platoon problems, where the actuator saturation and absent velocity measurement are taken into consideration. Firstly, a novel algorithm, where a smooth function is introduced to deal with the sharp corner of the input signals, is proposed for a group of vehicles with actuator saturation by using the consensus theory. Secondly, by applying an auxiliary system for the followers to estimate the velocities, a control strategy for the vehicle platoon with actuator saturation and absent velocity measurement is designed via the adaptive control approach. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.