Robust control of large vehicular platoons with prescribed transient and steady state performance

Charalampos P. Bechlioulis, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication53rd IEEE Conference on Decision and Control,CDC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3689-3694
Number of pages6
EditionFebruary
ISBN (Electronic)9781479977468
DOIs
StatePublished - 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

Publication series

NameProceedings of the IEEE Conference on Decision and Control
NumberFebruary
Volume2015-February
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Other

Other2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/TerritoryUnited States
CityLos Angeles
Period12/15/1412/17/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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