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A RISE Controller for an Electric Convoy

[+] Author Affiliations
Matthew G. Feemster

U.S. Naval Academy, Annapolis, MD

Paper No. DSCC2015-9944, pp. V002T31A004; 6 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0


In this paper, the robust integral of the sign of the error (RISE) control methodology is employed to promote interspacing distance regulation within a leader-follower convoy system by directly compensating for the preceding vehicle’s velocity behavior. The RISE technique was considered since it offers the advantage of requiring less restriction/knowledge on/of the preceding vehicle’s behavior (e.g., structure and/or frequency). Furthermore, the RISE algorithm is combined with a headway distancing method to aid in promoting convoy stability and as a result requires only measurement of the preceding vehicle’s position signal. Simulation results are provided for an electrically actuated convoy system that demonstrates the efficacy of the proposed method.



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