We consider suboptimal decentralized controllerdesign for subsystems with interconnected dynamics and costfunctions. A systematic design methodology is presented overthe class of linear quadratic regulators (LQR) for chain graphs.The methodology is evaluated on heavy duty vehicle platooningwith physical constraints. A simulation and frequency analysisis performed. The results show that the decentralized controllergives good tracking performance and a robust system. We alsoshow that the design methodology produces a string stablesystem for an arbitrary number of vehicles in the platoon, ifthe vehicle configurations and the LQR weighting parametersare identical for the considered subsystems. ; © 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120217


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Suboptimal Decentralized Controller Design for Chain Structures : Applications to Vehicle Formations


    Beteiligte:

    Erscheinungsdatum :

    2011-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Optimal distributed controller synthesis for chain structures applications to vehicle formations

    Khorsand, Omid / Alam, Assad / Gattami, Ather | BASE | 2012

    Freier Zugriff

    Decentralized Cooperative-Control Design for Multi-Vehicle Formations

    Weitz, Lesley / Hurtado, John / Sinclair, Andrew | AIAA | 2007


    A design of suboptimal controller for vehicle active suspension

    Ye Lin / Willumeit, H.P. | Tema Archiv | 1990


    A design of suboptimal controller for vehicle active suspension

    Ye Lin / Willumeit,H.P. | Kraftfahrwesen | 1991


    Decentralized Cooperative-Control Design for Multi-Vehicle Formations AIAA Paper

    Weitz, L. / Hurtado, J. / Sinclair, A. | British Library Conference Proceedings | 2007