Optimal distributed controller synthesis for chain structures applications to vehicle formations
2012 (English)In: ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics, 2012, 218-223 p.Conference paper (Refereed)
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems composed of interconnected subsystems over a chain graph. By decomposing the system into orthogonal modes, the cost function can be separated into individual components. Thereby, derivation of the optimal controllers in state-space follows immediately. The optimal controllers are evaluated under the practical setting of heavy duty vehicle platooning with communication constraints. It is shown that the performance can be significantly improved by adding a few communication links. The results show that the proposed optimal distributed controller outperforms a suboptimal controller in terms of control input energy.
Place, publisher, year, edition, pages
2012. 218-223 p.
Distributed control, Heavy duty vehicle (HDV), Intelligent transportation systems (ITS), Linear quadratic gaussian control (LQG), Optimal control, Platooning
IdentifiersURN: urn:nbn:se:kth:diva-106931ScopusID: 2-s2.0-84867736659ISBN: 978-989856521-1OAI: oai:DiVA.org:kth-106931DiVA: diva2:574566
9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012, 28 July 2012 through 31 July 2012, Rome, ITALY
FunderTrenOp, Transport Research Environment with Novel PerspectivesICT - The Next Generation
QC 201212062013-03-262012-12-052013-04-11Bibliographically approved