Controller Synthesis for a Homogenous Platoon under Leader and Predecessor Following Scheme
Paper i 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

Författare

Hakan Köroglu

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

American Control Conference

0743-1619 (ISSN)

1463-1468

Drivkrafter

Hållbar utveckling

Styrkeområden

Transport

Energi

Fundament

Grundläggande vetenskaper

Infrastruktur

C3SE (Chalmers Centre for Computational Science and Engineering)

Ämneskategorier

Reglerteknik

DOI

10.1109/ACC.2014.6859069

ISBN

978-147993272-6

Mer information

Skapat

2017-10-08