Optimal Distributed Controller Synthesis for Chain Structures - Applications to Vehicle Formations

Omid Khorsand, Assad Alam, Ather Gattami

Abstract

We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems composed of interconnected subsystems over a chain graph. By decomposing the system into orthogonal modes, the cost function can be separated into individual components. Thereby, derivation of the optimal controllers in state-space follows immediately. The optimal controllers are evaluated under the practical setting of heavy duty vehicle platooning with communication constraints. It is shown that the performance can be significantly improved by adding a few communication links. The results show that the proposed optimal distributed controller outperforms a suboptimal controller in terms of control input energy.

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Paper Citation


in Harvard Style

Khorsand O., Alam A. and Gattami A. (2012). Optimal Distributed Controller Synthesis for Chain Structures - Applications to Vehicle Formations . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 218-223. DOI: 10.5220/0004039902180223


in Bibtex Style

@conference{icinco12,
author={Omid Khorsand and Assad Alam and Ather Gattami},
title={Optimal Distributed Controller Synthesis for Chain Structures - Applications to Vehicle Formations},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={218-223},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004039902180223},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Optimal Distributed Controller Synthesis for Chain Structures - Applications to Vehicle Formations
SN - 978-989-8565-21-1
AU - Khorsand O.
AU - Alam A.
AU - Gattami A.
PY - 2012
SP - 218
EP - 223
DO - 10.5220/0004039902180223