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Optimal Distributed Controller Design with Communication Delays: Application to vehicle formations
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
Research and Development, Scania CV AB, 151 87 Södertälje, Sweden.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2012 (English)In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2012, 2232-2237 p.Conference paper (Refereed)
Abstract [en]

We consider the problem of optimal distributed control with delayed information sharing over chain structures motivated by applications of heavy duty vehicle platooning. We introduce a novel approach to find distributed controllers that take into account communication delays and correlation between the dynamic interconnection. The design decomposes the solution into separate optimization problems. The results show that a tight control is achieved, even in the presence of delays, and behaves well with respect to the imposed disturbances. The computed theoretical cost of the proposed optimal controller is significantly better than the theoretical cost for the centralized control with a global delay and close to the cost for a fully centralized control with full state information at all times.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 2232-2237 p.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0191-2216
Keyword [en]
Centralized control, Chain structure, Communication delays, Delayed information, Distributed control, Distributed controller, Heavy duty vehicles, Optimal controller, Optimization problems, State information, Vehicle formations
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-109296DOI: 10.1109/CDC.2012.6426380ISI: 000327200402099ScopusID: 2-s2.0-84874286403ISBN: 978-1-4673-2066-5OAI: diva2:581193
51st IEEE Conference on Decision and Control, CDC 2012; Maui, HI; United States; 10 December 2012 through 13 December 2012
TrenOp, Transport Research Environment with Novel Perspectives

QC 20130313

Available from: 2012-12-28 Created: 2012-12-28 Last updated: 2014-01-07Bibliographically approved

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