Nonlinear event-triggered platooning control with exponential convergence
2015 (English)In: IFAC Proceedings, Elsevier, 2015, Vol. 48, no 22, 138-143 p.Conference paper (Refereed)Text
In this paper the control of a platoon with a nonlinear controller under event-triggered communication is investigated. The proposed nonlinear controller is a predecessor-following controller for a certain class of nonlinear functions. For the event-triggered communication scheme every agent decides based on its own state when it transmits its state information. Therefore, a trigger rule is designed that guarantees exponential convergence of the state error while it excludes Zeno behavior. The results are extended to allow heterogeneous trigger rules under certain conditions. Furthermore the case of heterogeneous controllers is analyzed and exponential convergence and exclusion of Zeno behavior is still guaranteed. The theoretical results of the paper are supported by numerical simulations.
Place, publisher, year, edition, pages
Elsevier, 2015. Vol. 48, no 22, 138-143 p.
, IFAC Proceedings, ISSN 1474-6670
Event-triggered control, Nonlinear control, Platooning
IdentifiersURN: urn:nbn:se:kth:diva-187104DOI: 10.1016/ifacol.2015.10.320ScopusID: 2-s2.0-84954309243OAI: oai:DiVA.org:kth-187104DiVA: diva2:929703
5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015; Philadelphia; United States
QC 201605192016-05-192016-05-172016-05-19Bibliographically approved