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Event-Based Vehicle Coordination Using Nonlinear Unidirectional Controllers
Univ Stuttgart, Inst Syst Theory & Automat Control, D-70569 Stuttgart, Germany..
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Engineering Sciences (SCI).ORCID iD: 0000-0001-7309-8086
Univ Stuttgart, Inst Syst Theory & Automat Control, D-70569 Stuttgart, Germany..
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 4, p. 1575-1584Article in journal (Refereed) Published
Abstract [en]

This paper presents a framework to control vehicle platoons with event-based communication and nonlinear controllers. The overall goal is to achieve a platoon that moves in a desired formation with a desired velocity and the convergence to this formation should be exponential while Zeno behavior has to be excluded. The set of admissible controllers for this problem is specified by the properties that they need to guarantee. These properties will be of a form such that they can be checked locally by every vehicle itself and heterogeneous controllers as well as heterogeneous possibly nonlinear dynamics of the vehicles in the platoon are allowed. The framework is shown to work with several communication networks and the set of networks will be characterized. Modifications that are necessary to cope with additive disturbances are described and a simulation example that shows the benefits of being able to use the framework in different networks is given.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2018. Vol. 5, no 4, p. 1575-1584
Keywords [en]
Cooperative control, decentralized control, event-triggered control, nonlinear control system
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241217DOI: 10.1109/TCNS.2017.2733959ISI: 000454245200007Scopus ID: 2-s2.0-85028946174OAI: oai:DiVA.org:kth-241217DiVA, id: diva2:1280314
Available from: 2019-01-18 Created: 2019-01-18 Last updated: 2019-01-18Bibliographically approved

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Dimarogonas, Dimos V.

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