Optimal distributed control for platooning via sparse coprime factorizations

Autor:	Sabau, Serban, Oara, Cristian, Warnick, Sean, Jadbabaie, Ali
Rok vydání:	2015
Předmět:	Computer Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	We introduce a novel distributed control architecture for heterogeneous platoons of linear time--invariant autonomous vehicles. Our approach is based on a generalization of the concept of {\em leader--follower} controllers for which we provide a Youla--like parameterization while the sparsity constraints are imposed on the controller's left coprime factors, outlying a new concept of structural constraints in distributed control. The proposed scheme is amenable to optimal controller design via norm based costs, it guarantees string stability and eliminates the accordion effect from the behavior of the platoon. We also introduce a synchronization mechanism for the exact compensation of the time delays induced by the wireless broadcasting of information. Comment: 48 pages, 8 figures, Provisionally accepted for publication in IEEE Transactions on Automatic Control
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1510.08915 Zobrazit plný text záznamu View this record from Arxiv