• DocumentCode
    2261651
  • 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
  • fYear
    2006
  • fDate
    14-16 June 2006
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2006
  • Conference_Location
    Minneapolis, MN
  • Print_ISBN
    1-4244-0209-3
  • Electronic_ISBN
    1-4244-0209-3
  • Type

    conf

  • DOI
    10.1109/ACC.2006.1655445
  • Filename
    1655445
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2261651