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

Alessandro Bozzi, Roberto Sacile, Enrico Zero

2022

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.

Paper Citation

in Harvard Style

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 - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 427-433. DOI: 10.5220/0011272200003271

in Bibtex Style

@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 - Volume 1: ICINCO,},
year={2022},
pages={427-433},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011272200003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon
SN - 978-989-758-585-2
AU - Bozzi A.
AU - Sacile R.
AU - Zero E.
PY - 2022
SP - 427
EP - 433
DO - 10.5220/0011272200003271