Leader following with non-homogeneous weights for control of vehicle formations

Andres A. Peters, Oliver Mason, Richard H. Middleton

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

In this paper, we study a formation control scheme that achieves a tight formation in a 1D platoon. The scheme achieves constant inter-vehicle spacings (with no transient) for almost every vehicle pair whenever there are no disturbances. We build up from the basic leader following approach with a modification in the weight selection. In particular, each member tracks the movement of its immediate predecessor but also uses the leader state, which needs to be transmitted, in order to achieve a tight formation. The key design choice is the use of filters for the measurements that set the transfer functions from the leader trajectory to the inter-vehicle spacings to zero whenever possible. We support the analysis of the architecture with numerical simulations.

Idioma originalInglés
Título de la publicación alojada2016 IEEE Conference on Control Applications, CCA 2016
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas109-113
Número de páginas5
ISBN (versión digital)9781509007554
DOI
EstadoPublicada - 10 oct. 2016
Evento2016 IEEE Conference on Control Applications, CCA 2016 - Buenos Aires, Argentina
Duración: 19 sept. 201622 sept. 2016

Serie de la publicación

Nombre2016 IEEE Conference on Control Applications, CCA 2016

Conferencia

Conferencia2016 IEEE Conference on Control Applications, CCA 2016
País/TerritorioArgentina
CiudadBuenos Aires
Período19/09/1622/09/16

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