NDLI: On avoiding saturation in the control of vehicular platoons

Content Provider	IEEE Xplore Digital Library
Author	Jovanovic, M.R. Fowler, J.M. Bamieh, B. D'Andrea, R.
Copyright Year	2004
Description	Author affiliation: Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA (Jovanovic, M.R.)
Abstract	We investigate some fundamental limitations and tradeoffs in the control of vehicular platoons. These systems are of considerable practical importance as they represent an example of systems on lattices in which different units are dynamically coupled only through feedback controls. We demonstrate that in very long platoons, to avoid large position, velocity, and control amplitudes, one needs to explicitly account for the initial deviations of vehicles from their desired trajectories. We further derive explicit constraints on feedback gains - for any given set of initial conditions - to achieve desired position transients without magnitude and rate saturation. These constraints are used to generate the trajectories around which the states of the platoon system are driven towards their desired values without the excessive use of control effort. All results are illustrated using computer simulations of platoons containing a large number of vehicles.
Sponsorship	American Automatic Control Council IFAC
Starting Page	2257
Ending Page	2262
File Size	501937
Page Count	6
File Format	PDF
ISBN	0780383354
ISSN	07431619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Lattices Velocity control Control systems Distributed control Transient response Aerospace engineering Feedback control Computer simulation Unmanned aerial vehicles Satellites
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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