Title :
Decentralized control and estimation for a platoon of autonomous vehicles with a circulant communication network
Author :
Roberson, D. Gray ; Stilwell, Daniel J.
Author_Institution :
Bradley Dept. of Electr. & Comput. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA
Abstract :
Decentralized control and estimation for an autonomous vehicle platoon is complicated by the effects of intervehicle coupling. A state transformation is derived that simplifies design when the platoon communication network is circulant. The design process is illustrated with a formation control example
Keywords :
decentralised control; mobile robots; motion control; autonomous vehicle; circulant communication network; decentralized control; decentralized estimation; formation control; intervehicle coupling; platoon communication network; state transformation; Communication networks; Communication system control; Distributed control; Matrix converters; Mobile robots; Observers; Process design; Remotely operated vehicles; State estimation; State feedback;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1655445
