Suboptimal Decentralized Controller Design for Chain Structures: Applications to Vehicle Formations
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)
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.
Optimal Control, LQR, Heavy Duty Vehicle, Platooning
IdentifiersURN: urn:nbn:se:kth:diva-89747DOI: 10.1109/CDC.2011.6160938ISI: 000303506207085ScopusID: 2-s2.0-84860652242OAI: oai:DiVA.org:kth-89747DiVA: diva2:503491
CDC & ECC
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