TY - GEN
T1 - Robust control of large vehicular platoons with prescribed transient and steady state performance
AU - Bechlioulis, Charalampos P.
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2014.7039963
DO - 10.1109/CDC.2014.7039963
M3 - Conference contribution
AN - SCOPUS:84988214363
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3689
EP - 3694
BT - 53rd IEEE Conference on Decision and Control,CDC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Y2 - 15 December 2014 through 17 December 2014
ER -