Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

DOI10.1109/TAC.2016.2572002MaRDI QIDQ2979285zbMATH OpenOpenAlexWikidataFDO

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)

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)

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.

Cited in

(3)

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

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