Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Optimal control for decentralized platooning
KTH, School of Electrical Engineering (EES), Automatic Control.
2013 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The idea of autonomous vehicles and automated highway systems is no new concept to the automotive industry. The potential benets of such a technology are numerous. The platooning approach would imply energy economy through air drag reduction, but also reduced trac congestion and increased safety. The question of longitudinal control in a platoon conguration is central, the main concern being relative to safety. In this thesis, dierent classical control approaches will be compared and applied to the platooning problem. Among these approaches, one was tested in November 2012 in a demonstration which involved three teams and multiple vehicles from dierent Swedish universities. Constrained optimal control comes with the prospect of increased safety and better handling of some characteristics of physical systems. The main negative impact of this constraint handling lies in its computational complexity. Numerical problems were encountered and described with the use of MPC. Proportional-Integral and Linear Quadratic controllers were retained and applied to the tracking problem in the context of vehicle platooning. These methods will be compared in a simulation environment.

 

Place, publisher, year, edition, pages
2013. , 94 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-121541OAI: oai:DiVA.org:kth-121541DiVA: diva2:618853
Educational program
Master of Science in Engineering - Electrical Engineering
Uppsok
Technology
Examiners
Available from: 2013-05-03 Created: 2013-04-30 Last updated: 2013-05-03Bibliographically approved

Open Access in DiVA

XR-EE-RT_2013-005_Achour Amazouz(1932 kB)595 downloads
File information
File name FULLTEXT01.pdfFile size 1932 kBChecksum SHA-512
fc5c6c9d7d911f195f8b406d4e350b8ab9c438ac49319d0d1f819d91f2e6f9aeb8790788603dcb6fcb484bfa521c9f13c88ba94eee8d6cf52a42660d2666650b
Type fulltextMimetype application/pdf

By organisation
Automatic Control
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 595 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 530 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf