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Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865Article in journal (Refereed) Published
Abstract [en]

In this paper, we study the longitudinal controlproblem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily obtained by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as inter-vehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.

Place, publisher, year, edition, pages
IEEE Press, 2017.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-211171DOI: 10.1109/TCST.2017.2658180ISI: 000418095900026OAI: oai:DiVA.org:kth-211171DiVA: diva2:1127976
Note

QC 20170801

Available from: 2017-07-20 Created: 2017-07-20 Last updated: 2017-12-29Bibliographically approved

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Verginis, ChristosDimarogonas, Dimos V.
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