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Suboptimal Decentralized Controller Design for Chain Structures: Applications to Vehicle Formations
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
2011 (engelsk)Inngår i: IEEE 50th Annual Conference on Decision and Control and European Control Conference, Orlando, December, 2011, IEEE , 2011, s. 6894-6900Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We consider suboptimal decentralized controllerdesign for subsystems with interconnected dynamics and costfunctions. A systematic design methodology is presented overthe class of linear quadratic regulators (LQR) for chain graphs.The methodology is evaluated on heavy duty vehicle platooningwith physical constraints. A simulation and frequency analysisis performed. The results show that the decentralized controllergives good tracking performance and a robust system. We alsoshow that the design methodology produces a string stablesystem for an arbitrary number of vehicles in the platoon, ifthe vehicle configurations and the LQR weighting parametersare identical for the considered subsystems.

sted, utgiver, år, opplag, sider
IEEE , 2011. s. 6894-6900
Emneord [en]
Optimal Control, LQR, Heavy Duty Vehicle, Platooning
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-89747DOI: 10.1109/CDC.2011.6160938ISI: 000303506207085Scopus ID: 2-s2.0-84860652242OAI: oai:DiVA.org:kth-89747DiVA, id: diva2:503491
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© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120217

Tilgjengelig fra: 2012-02-17 Laget: 2012-02-15 Sist oppdatert: 2014-08-29bibliografisk kontrollert

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