Controller Synthesis for a Homogenous Platoon under Leader and Predecessor Following Scheme
Paper in proceeding, 2014

Synthesis of dynamic output-feedback controllers is considered in a homogenous platoon operating under the leader and predecessor following scheme. The problem is formulated as a multi-objective H∞-type synthesis in which the goal is to keep the worst-case spacing error variations induced by the maneuvers of the leader as small as possible, while also avoiding excessively large control inputs. Concerns about possible communication problems are also reflected in the problem formulation. Sufficient solvability conditions are then derived in the form of linear matrix inequalities, which also depend on a scalar parameter over which a line search has to be performed. It is also described how the transient behavior of the platoon can be shaped by a simple additional condition. The procedure is illustrated by some sample designs and simulations in the longitudinal control of vehicle platoons.

linear matrix inequalities

cooperative control

multi-objective synthesis

H infinity synthesis

Author

Hakan Köroglu

Chalmers, Signals and Systems, Systems and control

Paolo Falcone

Chalmers, Signals and Systems, Systems and control

American Control Conference

0743-1619 (ISSN)

1463-1468
978-147993272-6 (ISBN)

Driving Forces

Sustainable development

Areas of Advance

Transport

Energy

Roots

Basic sciences

Infrastructure

C3SE (Chalmers Centre for Computational Science and Engineering)

Subject Categories

Control Engineering

DOI

10.1109/ACC.2014.6859069

ISBN

978-147993272-6

More information

Created

10/8/2017