Vehicle-follower longitudinal control for automated transit vehicles

R. J. Caudill, W. L. Garrard

Research output: Contribution to journalArticlepeer-review

58 Scopus citations


This paper examines the effects of spacing policy and control system nonlinearities on the dynamic response of strings of automated transit vehicles operating under automatic velocity and spacing control. Both steady-state and transient responses are studied. Steady-state response is examined by a modification of the describing function technique and transient response is studied by Liapunov procedures. It is shown that a nonlinearity commonly encountered in automated transit vehicles, a limiter on acceleration and deceleration, can result in string instabilities even though a linearized analysis indicates that the string is stable. Although this paper is specifically focused on automated transit systems, some of the results obtained also appear to be applicable to strings of automobiles on freeways.

Original languageEnglish (US)
Pages (from-to)241-248
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number4
StatePublished - Dec 1977
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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