Joint Synthesis of Dynamic Feed-Forward and Static State Feedback for Platoon Control
Paper in proceeding, 2014

Joint synthesis of static state-feedback and dynamic feed-forward is considered for a homogenous platoon operating under the leader and predecessor following scheme. The problem is formulated with two H-infinity type performance objectives. The first objective requires the first vehicle to respond in a desirable way to the maneuvers of the leader and it is to be realized by a joint synthesis of the feed-forward filter together with a state feedback gain. Novel LMI conditions are derived for this objective by fixing the order and the poles of the filter. The second objective aims at preventing the amplification of the errors backward along the platoon, while also maintaining robustness against communication problems with the leader. New sufficient LMI conditions are provided for this objective, based on which leader and predecessor feedback gain matrices can be constructed.

Author

Hakan Köroglu

Chalmers, Signals and Systems, Systems and control

Paolo Falcone

Chalmers, Signals and Systems, Systems and control

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

Vol. 2015-February 4503-4508
978-1-4799-7745-1 (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/CDC.2014.7040092

More information

Latest update

7/12/2024