Fabio Morbidi, Patrizio Colaneri, Thomas Stanger,
"Decentralized optimal control of a car platoon with guaranteed string stability"
: European Control Conference, Seite(n) 3494-3499, 2013
Original Titel:
Decentralized optimal control of a car platoon with guaranteed string stability
Sprache des Titels:
Englisch
Original Buchtitel:
European Control Conference
Original Kurzfassung:
This paper presents new decentralized optimal
strategies for Cooperative Adaptive Cruise Control (CACC) of
a car platoon under string-stability constraints. Two related
scenarios are explored in the article: in the first one, a linearquadratic
regulator in the presence of measurable disturbances
is synthesized, and the string-stability of the platoon is enforced
over the controller?s feedback and feedforward gains. In the
second scenario, H2- andH?-performance criteria, respectively
accounting for the desired group behavior and the stringstability
of the platoon, are simultaneously achieved using the
recently-proposed compensator blending method. An analytical
study of the impact of actuation/communication delays and
uncertain model parameters on the stability of the multi-vehicle
system, is also conducted. The theory is illustrated via numerical
simulations.