Optimal distributed control with application to asymmetric vehicle platoons

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00303994" target="_blank" >RIV/68407700:21230/16:00303994 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/CDC.2016.7798927" target="_blank" >http://dx.doi.org/10.1109/CDC.2016.7798927</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CDC.2016.7798927" target="_blank" >10.1109/CDC.2016.7798927</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Optimal distributed control with application to asymmetric vehicle platoons

Popis výsledku v původním jazyce

This paper considers a distributed system of identical agents with arbitrary LTI models. A method for distributed state-feedback design is provided. The proposed solution consists of two steps: first a single-agent controller is derived and then, based on the network topology, the gain of this controller is adjusted. LQ optimality of this controller is proved provided that the Laplacian has only real eigenvalues and is non-defective. The result is subsequently used to design a controller for asymmetric vehicle platoon. We show that the same controller with a fixed gain is the optimal controller for any number of vehicles in the platoon. However, the performance of the optimal controller is still subject to inherent limitations given by the network topology. In some cases, even exponential scaling in the number of vehicles must occur for any controller.

Název v anglickém jazyce

Optimal distributed control with application to asymmetric vehicle platoons

Popis výsledku anglicky

This paper considers a distributed system of identical agents with arbitrary LTI models. A method for distributed state-feedback design is provided. The proposed solution consists of two steps: first a single-agent controller is derived and then, based on the network topology, the gain of this controller is adjusted. LQ optimality of this controller is proved provided that the Laplacian has only real eigenvalues and is non-defective. The result is subsequently used to design a controller for asymmetric vehicle platoon. We show that the same controller with a fixed gain is the optimal controller for any number of vehicles in the platoon. However, the performance of the optimal controller is still subject to inherent limitations given by the network topology. In some cases, even exponential scaling in the number of vehicles must occur for any controller.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA16-19526S" target="_blank" >GA16-19526S: Certifikace zákonů řízení pro budoucí dopravní systémy pomocí semidefinitního programování</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the IEEE 55th Conference on Decision and Control (CDC)

ISBN

978-1-5090-1837-6

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

4340-4345

Název nakladatele

IEEE

Místo vydání

Piscataway, NJ

Místo konání akce

Las Vegas

Datum konání akce

12. 12. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000400048104085