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Authors: Alessandro Bozzi ; Enrico Zero ; Roberto Sacile and Chiara Bersani

Affiliation: DIBRIS – Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova, Genova, Italy

Keyword(s): Robust Control, Trajectory Planning, Linear Matrix Inequality, Vehicle Platooning.

Abstract: This paper proposes a solution to dynamically adjust vehicle platoon trajectories. The goal of the control algorithm is to keep the optimal interdistance between adjacent vehicles proceeding at cruising speed on a straight road. After a proposal of the interdistance required between neighboring vehicles, a robust decentralized controller based on a linear control law provides the speed profile for each component of the platoon. Its objective is to minimize the divergence in space in respect to the planned trajectories while assuring a safe span between adjacent members of the platoon. The results on a limited instance demonstrate the effectiveness of the proposed approach.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Bozzi, A.; Zero, E.; Sacile, R. and Bersani, C. (2021). Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 410-415. DOI: 10.5220/0010550704100415

@conference{icinco21,
author={Alessandro Bozzi. and Enrico Zero. and Roberto Sacile. and Chiara Bersani.},
title={Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={410-415},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010550704100415},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
SN - 978-989-758-522-7
IS - 2184-2809
AU - Bozzi, A.
AU - Zero, E.
AU - Sacile, R.
AU - Bersani, C.
PY - 2021
SP - 410
EP - 415
DO - 10.5220/0010550704100415
PB - SciTePress

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