Suboptimal decentralized controller design for chain structures: Applications to vehicle formations
- 1 December 2011
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 01912216,p. 6894-6900
- https://doi.org/10.1109/cdc.2011.6160938
Abstract
We consider suboptimal decentralized controller design for subsystems with interconnected dynamics and cost functions. A systematic design methodology is presented over the class of linear quadratic regulators (LQR) for chain graphs. The methodology is evaluated on heavy duty vehicle platooning with physical constraints. A simulation and frequency analysis is performed. The results show that the decentralized controller gives good tracking performance and a robust system. We also show that the design methodology produces a string stable system for an arbitrary number of vehicles in the platoon, if the vehicle configurations and the LQR weighting parameters are identical for the considered subsystems.Keywords
This publication has 17 references indexed in Scilit:
- Road grade estimation for look-ahead vehicle control using multiple measurement runsControl Engineering Practice, 2010
- Decentralized control of vehicle platoons with interconnection possessing ring topologyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Two-vehicle look-ahead convoy control systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Distributed control of spatially invariant systemsIEEE Transactions on Automatic Control, 2002
- Decentralized overlapping control of a platoon of vehiclesIEEE Transactions on Control Systems Technology, 2000
- String stability of interconnected systemsIEEE Transactions on Automatic Control, 1996
- Smart cars on smart roads: problems of controlIEEE Transactions on Automatic Control, 1993
- Sequential design of linear multivariable systemsProceedings of the Institution of Electrical Engineers, 1979
- On the optimal error regulation of a string of moving vehiclesIEEE Transactions on Automatic Control, 1966
- Elements for a Theory of TeamsManagement Science, 1955