We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. Such problems are known to suffer from poor stability margin and sensitivity to disturbance as the number of vehicles gets large. In this paper, we present a novel control design methodology for optimization of the stability margin using distributed control. The methodology employs a variational formulation for minimization of the least stable eigenvalue of a partial differential equation (PDE) approximation of the platoon dynamics. We show that the eigenvalue optimization based control has better closed-loop stability margin and sensitivity to disturbance than a symmetric architecture where the same control law is used by each vehicle. All the conclusions drawn from analysis of the PDE model are corroborated via numerical calculations of the discrete platoon model.
|Title of host publication
|Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2009
|48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009 → Dec 18 2009
|Proceedings of the IEEE Conference on Decision and Control
|48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
|12/15/09 → 12/18/09
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization