Optimal Distributed Controller Design with Communication Delays: Application to vehicle formations
2012 (English)In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2012, 2232-2237 p.Conference paper (Refereed)
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
Centralized control, Chain structure, Communication delays, Delayed information, Distributed control, Distributed controller, Heavy duty vehicles, Optimal controller, Optimization problems, State information, Vehicle formations
IdentifiersURN: urn:nbn:se:kth:diva-109296DOI: 10.1109/CDC.2012.6426380ISI: 000327200402099ScopusID: 2-s2.0-84874286403ISBN: 978-1-4673-2066-5OAI: oai:DiVA.org:kth-109296DiVA: diva2:581193
51st IEEE Conference on Decision and Control, CDC 2012; Maui, HI; United States; 10 December 2012 through 13 December 2012
FunderTrenOp, Transport Research Environment with Novel Perspectives
QC 201303132012-12-282012-12-282014-01-07Bibliographically approved