DocumentCode :
115184
Title :
Robust control of large vehicular platoons with prescribed transient and steady state performance
Author :
Bechlioulis, Charalampos P. ; Dimarogonas, Dimos V. ; Kyriakopoulos, Kostas J.
Author_Institution :
Sch. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece
fYear :
2014
fDate :
15-17 Dec. 2014
Firstpage :
3689
Lastpage :
3694
Abstract :
In this paper, we consider the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics. More specifically, we design a decentralized model-free control protocol in the sense that each vehicle utilizes only local relative information regarding its front vehicle, obtained by its on-board sensors, to calculate its own control signal, without incorporating any prior knowledge of the model nonlinearities/disturbances or any approximation structures to acquire such knowledge. Additionally, the transient and steady state response is a priori determined by certain designer-specified performance functions and is fully decoupled by the agents´ dynamic model, the number of vehicles composing the platoon and the control gains selection, which relaxes significantly the control design procedure. Moreover, introducing certain inter-vehicular distance constraints during the transient response shaping, collisions between successive vehicles as well as connectivity breaks owing to limited sensing capabilities are provably avoided. Finally, the proposed methodology results in a low complexity design. Actually, it is a static scheme involving very few and simple calculations to output the control signal, thus making its distributed implementation straightforward.
Keywords :
control system synthesis; decentralised control; nonlinear control systems; nonlinear dynamical systems; road traffic control; robust control; transient response; agents dynamic model; automated highway systems; control design procedure; control gains selection; decentralized model-free control protocol; designer-specified performance functions; inter-vehicular distance constraints; local relative information; longitudinal control problem; low complexity design; nonlinear dynamics; robust control; steady state response; transient response shaping; vehicular platoons; Computer architecture; Decentralized control; Protocols; Sensors; Steady-state; Transient analysis; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
Type :
conf
DOI :
10.1109/CDC.2014.7039963
Filename :
7039963
Link To Document :
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