Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

• Published in: IEEE transactions on automatic control Vol. 62; no. 1; pp. 305 - 320
• Main Authors: Sabau, Serban, Oara, Cristian, Warnick, Sean, Jadbabaie, Ali
• Format: Journal Article
• Language: English
• 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

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...