This paper presents a novel approach to control layout for longitudinal guidance of platoons with a limited number of vehicles. It accounts for both the reduction of spacing errors and a limitation in velocities and accelerations of following vehicles to avoid saturations. All criteria can be expressed using a mixed H2/H-infinity problem formulation. The objectives are formulated as one set of linear matrix inequalities that are solved for the controller. The optimization is presented for different control structure and the effectiveness of reducing overshoots in velocities or accelerations is shown through simulation results. This work also considers structural constraints concerning the information available to the controller and evaluates a sequential control algorithm applying the same layout method. Finally, the efforts of changing parameters of the vehicle's drivetrain are analyzed and robustness of the presented controllers is investigated.
LMI-based control of vehicle platoons for robust longitudinal guidance
LMI-basierte Regelung von Fahrzeug-Konvois für robuste longitudinale Führung
IFAC, IFAC World Congress, 17 ; 11671-11676
2008
6 Seiten, 9 Bilder, 3 Tabellen, 12 Quellen
Conference paper
English
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