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Suboptimal Decentralized Controller Design for Chain Structures: Applications to Vehicle Formations
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2011 (English)In: IEEE 50th Annual Conference on Decision and Control and European Control Conference, Orlando, December, 2011, IEEE , 2011, 6894-6900 p.Conference paper (Refereed)
Abstract [en]

We consider suboptimal decentralized controllerdesign for subsystems with interconnected dynamics and costfunctions. A systematic design methodology is presented overthe class of linear quadratic regulators (LQR) for chain graphs.The methodology is evaluated on heavy duty vehicle platooningwith physical constraints. A simulation and frequency analysisis performed. The results show that the decentralized controllergives good tracking performance and a robust system. We alsoshow that the design methodology produces a string stablesystem for an arbitrary number of vehicles in the platoon, ifthe vehicle configurations and the LQR weighting parametersare identical for the considered subsystems.

Place, publisher, year, edition, pages
IEEE , 2011. 6894-6900 p.
Keyword [en]
Optimal Control, LQR, Heavy Duty Vehicle, Platooning
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-89747DOI: 10.1109/CDC.2011.6160938ISI: 000303506207085ScopusID: 2-s2.0-84860652242OAI: diva2:503491

© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120217

Available from: 2012-02-17 Created: 2012-02-15 Last updated: 2014-08-29Bibliographically approved

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