Suboptimal Decentralized Controller Design for Chain Structures : Applications to Vehicle Formations
| Autor: | Karl Henrik Johansson, Assad Alam, Ather Gattami |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: |
LQR
Platooning Engineering business.industry Optimal Control String (computer science) Control engineering Graph theory Control Engineering Optimal control Transfer function Weighting Computer Science::Robotics Vehicle dynamics Computer Science::Systems and Control Control theory Reglerteknik Platoon business Heavy Duty Vehicle |
| Zdroj: | CDC/ECC |
| Popis: | 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. © 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 |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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