2015/10/29 by Şerban Sabău, Cristian Oarâ, Sabau, Serban +5
Computer Science · Engineering · #FOS: Electrical engineering #Network Time Synchronization Technologies #Nonlinear Dynamics and Pattern Formation #Systems and Control (eess.SY) #Traffic control and management #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1510.08915
openalex publication_date 2015/10/29 · openalex created_date 2022/10/04 · openalex updated_date 2026/07/28
We introduce a novel distributed control architecture for heterogeneous\nplatoons of linear time--invariant autonomous vehicles. Our approach is based\non a generalization of the concept of em leader--follower controllers for\nwhich we provide a Youla--like parameterization while the sparsity constraints\nare imposed on the controller's left coprime factors, outlying a new concept of\nstructural constraints in distributed control. The proposed scheme is amenable\nto optimal controller design via norm based costs, it guarantees string\nstability and eliminates the accordion effect from the behavior of the platoon.\nWe also introduce a synchronization mechanism for the exact compensation of the\ntime delays induced by the wireless broadcasting of information.\n