Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon

Alessandro Bozzi; Roberto Sacile; Enrico Zero

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Paper

Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon

Topics: Autonomous Agents; Guidance, Navigation and Control; Networked Control

In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 427-433, 2022 , Lisbon, Portugal

Authors: Alessandro Bozzi ; Roberto Sacile and Enrico Zero

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

Keyword(s): Autonomous Vehicles, PID, Linear Quadratic Control, Platooning.

Abstract: This paper introduces a comparison between a decentralized Proportional Integral Derivative (PID) controller and a centralized Linear Quadratic Tracking (LQT) controller to automatise the exchange of two inner vehicles inside a platoon moving on a straight path. Lomonossoff’s model is used to represent vehicle’s longitudinal dynamics. A case study is presented to demonstrate the effectiveness of both controllers respectively on nonlinear and linearized model.

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Paper citation in several formats:

Bozzi, A.; Sacile, R. and Zero, E. (2022). Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 427-433. DOI: 10.5220/0011272200003271

@conference{icinco22,
author={Alessandro Bozzi. and Roberto Sacile. and Enrico Zero.},
title={Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={427-433},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011272200003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon
SN - 978-989-758-585-2
IS - 2184-2809
AU - Bozzi, A.
AU - Sacile, R.
AU - Zero, E.
PY - 2022
SP - 427
EP - 433
DO - 10.5220/0011272200003271
PB - SciTePress