Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

We introduce a novel distributed control architecture for heterogeneous platoons of linear time-invariant autonomous vehicles. Our approach is based on a generalization of the concept of leader-follower controllers for which we provide a Youla-like parameterization, while the sparsity constraints ar...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 62; no. 1; pp. 305 - 320
Main Authors Sabau, Serban, Oara, Cristian, Warnick, Sean, Jadbabaie, Ali
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Control systems design
Controllers
Cruise control
Decentralized control
Delay effects
linear feedback control systems
motion control/collision avoidance
Parameterization
Platooning
Stability analysis
Synchronism
Transfer functions
Vehicles
Wireless communication
Wireless communications
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Summary:We introduce a novel distributed control architecture for heterogeneous platoons of linear time-invariant autonomous vehicles. Our approach is based on a generalization of the concept of leader-follower controllers for which we provide a Youla-like parameterization, while the sparsity constraints are imposed on the controller's left coprime factors, outlining a new concept of structural constraints in distributed control. The proposed scheme is amenable to optimal controller design via norm based costs, it guarantees string stability and eliminates the accordion effect from the behavior of the platoon. We also introduce a synchronization mechanism for the exact compensation of the time delays induced by the wireless communications.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2016.2572002