Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

DOI10.1109/TAC.2016.2572002zbMATH Open1359.93377arXiv1510.08915OpenAlexW2964079411WikidataQ114085493 ScholiaQ114085493MaRDI QIDQ2979285FDOQ2979285

Authors: Şerban Sabău, Cristian Oară, Sean Warnick, Ali Jadbabaie 

Publication date: 3 May 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: We introduce a novel distributed control architecture for heterogeneous platoons of linear time--invariant autonomous vehicles. Our approach is based on a generalization of the concept of {em leader--follower} controllers for which we provide a Youla--like parameterization while the sparsity constraints are imposed on the controller's left coprime factors, outlying a new concept of structural constraints in distributed control. The proposed scheme is amenable to optimal controller design via norm based costs, it guarantees string stability and eliminates the accordion effect from the behavior of the platoon. We also introduce a synchronization mechanism for the exact compensation of the time delays induced by the wireless broadcasting of information.

Full work available at URL: https://arxiv.org/abs/1510.08915

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Decentralized systems (93A14) Design techniques (robust design, computer-aided design, etc.) (93B51) Stabilization of systems by feedback (93D15)

Cited In (3)

• Pinning control strategy and stability analysis of mixed platoon: a cyber-physical perspective
• Cooperative optimal control for connected and automated vehicles platoon
• Distributed Robust Predictive Control of Linear Time-Varying Systems by Using Contractive Sets

This page was built for publication: Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2979285)