Decentralized spacing control of a string of multiple vehicles over lossy datalinks

Rodney Teo; Dušan M. Stipanović; Claire J. Tomlin

doi:10.1109/TCST.2009.2016109

Decentralized spacing control of a string of multiple vehicles over lossy datalinks

Rodney Teo, Dušan M. Stipanović, Claire J. Tomlin

Research output: Contribution to journal › Article › peer-review

Abstract

In spacing control of multiple vehicles as in aircraft, spacecraft formation flying and highway vehicle platooning, previous research has shown that the lead vehicle's state is required by all following vehicles in order to achieve leader-to-formation stability. Following vehicles can estimate the lead vehicle's state during losses by assuming that the lead vehicle maintains its speed. In this paper, it is determined that, for bursty links, leader-to-formation stability can be retained if the lead vehicle indeed maintains its speed and if not, the spacing error will not exceed some bound which is some finite factor of the peak value of the lead vehicle's acceleration.

Original language	English (US)
Article number	5299232
Pages (from-to)	469-473
Number of pages	5
Journal	IEEE Transactions on Control Systems Technology
Volume	18
Issue number	2
DOIs	https://doi.org/10.1109/TCST.2009.2016109
State	Published - Mar 2010

Keywords

Communication loss
Decentralized control
Leader-to-formation stability
Multiple vehicles
Spacing control
String stability
Wireless datalink

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Online availability

10.1109/TCST.2009.2016109

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title = "Decentralized spacing control of a string of multiple vehicles over lossy datalinks",

abstract = "In spacing control of multiple vehicles as in aircraft, spacecraft formation flying and highway vehicle platooning, previous research has shown that the lead vehicle's state is required by all following vehicles in order to achieve leader-to-formation stability. Following vehicles can estimate the lead vehicle's state during losses by assuming that the lead vehicle maintains its speed. In this paper, it is determined that, for bursty links, leader-to-formation stability can be retained if the lead vehicle indeed maintains its speed and if not, the spacing error will not exceed some bound which is some finite factor of the peak value of the lead vehicle's acceleration.",

keywords = "Communication loss, Decentralized control, Leader-to-formation stability, Multiple vehicles, Spacing control, String stability, Wireless datalink",

author = "Rodney Teo and Stipanovi{\'c}, {Du{\v s}an M.} and Tomlin, {Claire J.}",

note = "Funding Information: Manuscript received November 06, 2007; revised December 14, 2008. Manuscript received in final form February 17, 2009. First published October 30, 2009; current version published February 24, 2010. Recommended by Associate Editor C. A. Rabbath. This work was supported in part by DSTA, Singapore, the DARPA Software Enabled Control (SEC) program administered by AFRL under Contract F33615-99-C-3014, by a DoD Multidisciplinary University Research Initiative (MURI) program administered by ONR under Grant N00014-02-1-0720; and by the DARPA MICA program administered by SPAWAR under Contract N66001-01-C-8080.",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AU - Teo, Rodney

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AU - Tomlin, Claire J.

N1 - Funding Information: Manuscript received November 06, 2007; revised December 14, 2008. Manuscript received in final form February 17, 2009. First published October 30, 2009; current version published February 24, 2010. Recommended by Associate Editor C. A. Rabbath. This work was supported in part by DSTA, Singapore, the DARPA Software Enabled Control (SEC) program administered by AFRL under Contract F33615-99-C-3014, by a DoD Multidisciplinary University Research Initiative (MURI) program administered by ONR under Grant N00014-02-1-0720; and by the DARPA MICA program administered by SPAWAR under Contract N66001-01-C-8080.

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AB - In spacing control of multiple vehicles as in aircraft, spacecraft formation flying and highway vehicle platooning, previous research has shown that the lead vehicle's state is required by all following vehicles in order to achieve leader-to-formation stability. Following vehicles can estimate the lead vehicle's state during losses by assuming that the lead vehicle maintains its speed. In this paper, it is determined that, for bursty links, leader-to-formation stability can be retained if the lead vehicle indeed maintains its speed and if not, the spacing error will not exceed some bound which is some finite factor of the peak value of the lead vehicle's acceleration.

KW - Communication loss

KW - Decentralized control

KW - Leader-to-formation stability

KW - Multiple vehicles

KW - Spacing control

KW - String stability

KW - Wireless datalink

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Decentralized spacing control of a string of multiple vehicles over lossy datalinks

Abstract

Keywords

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