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used when fast modification of the planned trajectory
is required due to unforeseen approaching among ve-
hicles. For future improvements we aim to test out
the control algorithm on a large set of unmanned car
or on curvilinear trajectories. This involves the anal-
ysis of the curve parameters and the computation of
a control law both for the acceleration and the yaw
angle separately.
Moreover, we are interested in verifying if the pe-
riodic computation of gains could improve the overall
performance of the platoon. In our simulation, in fact,
gains are estimated before the activation of the robust
controller and maintained until the end of the experi-
ment. By periodically checking the gain optimality, it
may be possible to track better the trajectories profile
during the evolution of the system.
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Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
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