Robust Distributed Control Protocols for Large Vehicular Platoons With Prescribed Transient and Steady-State Performance

In this brief, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback f...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on control systems technology 2018-01, Vol.26 (1), p.299-304
Main Authors: Verginis, Christos K., Bechlioulis, Charalampos P., Dimarogonas, Dimos V., Kyriakopoulos, Kostas J.
Format: Article
Language:English
Subjects:
Computer architecture
Computer simulation
Decentralized control
Dynamical systems
Longitudinal control
Nonlinear dynamics
Platoon
Prescribed Performance
Protocols
Robot control
Robust control
Robustness
Sensors
Steady state
Transient analysis
Vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this brief, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily acquired by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed-loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as intervehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.
ISSN:1063-6536
1558-0865
1558-0865
DOI:10.1109/TCST.2017.2658180