Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

Abstract

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 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.

Hub-based truck platooning: Potentials and profitability

“…In the literature, the main focus has been on the technological aspects of platooning and how vehicle-to-vehicle communication and sensor technology can be applied to facilitate platooning (Bergenhem et al, 2012). Along these lines, mathematical models for platooning control and optimal stability as well as adaptive cruise control manoeuvres have been developed (e.g, (Sabau et al, 2017;Nowakowski et al, 2015)). Numerous technological challenges still remain related to platooning, including enabling multi-brand platooning (Fornells & Arrue, 2014;Brizzolara & Toth, 2016;Berger, 2016), restrictions on platoons in mixed traffic conditions (Alkim et al, 2016) and incompatible braking and acceleration profiles (Nowakowski et al, 2015).…”

Reachability-Based Safety and Goal Satisfaction of Unmanned Aerial Platoons on Air Highways

“…The i-th member of the platoon, QP i , is expected to track a relative position in the platoon r i = (r i x , r i y ) with respect to the leader's position pP 1 , and the leader's velocity vP 1 at all times. The resulting control law has the form: (25) for some kp, kv > 0. In particular, a simple rule for determining r i (t) in a single-file platoon is given for QP i as:…”

Multi-Rate Switched Pinning Control for Velocity Control of Vehicle Platoons

“…This paper considers a velocity control problem for autonomous vehicle platoons by Intelligent Transport Systems (ITS). The development of connected vehicles advances platoon control methods [1]. In the platoon control, each vehicle adjusts its velocity and its inter-vehicular distance based on the information by sensing or vehicle to vehicle (V2V) communications.…”