Joint synthesis of dynamic feed-forward and static state feedback for platoon control

Köroğlu, Hakan; Falcone, Paolo

doi:10.1109/cdc.2014.7040092

Cited by 3 publications

(3 citation statements)

References 26 publications

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“…It is possible to ensure robustness against nonzero initial states by a simple additional LMI condition as we will shortly describe. When the initial state vector x i .0/ is not zero, the energy of the performance output´i will be bounded from above as in (50). In order to reduce the contribution that comes from nonzero initial states, one can consider bounding the eigenvalue of Y 1 from above by Y 1 4 2 I=ˇ2.…”

Section: Robustness Against Nonzero Initial Conditionsmentioning

confidence: 99%

“…When considering full-order dynamic output feedback, a mixed-sensitivity H 1 synthesis becomes quite convenient [7], as well as a multi-objective synthesis based on linear matrix inequality (LMI) optimization [48]. If all states are measurable, a multi-objective state-feeback synthesis via LMI optimization as in [49,50] would be quite suitable for dealing with system uncertainties, disturbances, and communication problems. It might not be easy to enforce the string stability constraints in such a synthesis, depending on the adopted control scheme.…”

Section: Introductionmentioning

confidence: 99%

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Robust static output feedback synthesis for platoons under leader and predecessor feedback

Köroğlu

Falcone

2016

Intl J Robust & Nonlinear

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A multi-objective static output feedback synthesis problem is considered for the control of vehicle platoons under leader and predecessor feedback. Sufficient linear matrix inequality conditions are derived for the solvability of the problem in a way to facilitate static feed-forward as well. A novel velocity-dependent spacing policy is integrated into the control scheme together with a platoon model in which the emphasis on the predecessor information can be adjusted by a normalized scalar weight. It is shown that the string stability of the spacing errors and the acceleration signals can always be guaranteed by choosing this weight sufficiently small. Moreover, provided that the time headway is chosen sufficiently large, the synthesis can be performed in a way to avoid the amplification of acceleration energies if compared with the leader. As a particularly convenient feature, the target spacing between the vehicles becomes smaller when moving backward along the platoon. The total increase in the platoon length caused by the introduction of the velocity-dependent scheme is shown to be bounded and decreasing with decreasing predecessor weight. It is also established that the predecessor weight can be adjusted smoothly over time without endangering the formation stability. In addition to the optimization of the parameters of common fixed-structure controllers for general vehicle models, the proposed synthesis procedure provides various tools for improving robustness against measurement noise, communication delay, and model uncertainty.It is quite common to consider the platoon control problem based on linear vehicle models obtained by favor of exact feedback linearization [19][20][21][22]. The simplest one is a kinematic model referred to as the double integrator: acceleration (as the control input) to velocity, velocity to position. Because of the (typically uncertain) dynamics of the engine, it is necessary to consider slightly more advanced models in practical designs. The vehicle as a whole is hence usually viewed as a first-order system identified by a (possibly velocity-dependent) time constant referred to as the 'time lag ' [19, 23, 24]. This model is used to represent the transfer function from the given acceleration command to the actual acceleration of the vehicle. In more advanced models, a control input (i.e., actuator) delay is also assumed [5][6][7][25][26][27][28]. It is common to consider identical vehicle models with which the corresponding platoons are referred to as 'homogenous'. The analysis and synthesis problems get much more complicated for 'heterogenous' platoons in which the vehicles have different models [5,29]. For successful practical designs, one needs to take into account the uncertainty in the time lag and/or the actuator delay (as might be encountered in trucks due to switching dynamics with gear changes) in addition to heterogeneity [26].The main goal in a platoon formation is to maintain desirably small spacings between the vehicles by realizable acceleration/deceleration comman...

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Section: Robustness Against Nonzero Initial Conditionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust static output feedback synthesis for platoons under leader and predecessor feedback

Köroğlu

Falcone

2016

Intl J Robust & Nonlinear

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“…Such a sequential approach might lead to suboptimal design for uncertain systems as pointed out by [27] and would be quite inconvenient especially when the goal is to synthesize a parameter-dependent controller. A joint synthesis of static feedback with dynamic feedforward was considered in the previous work [9].…”

Section: Introductionmentioning

confidence: 99%

Joint Synthesis of Robust Dynamic State Feedback and Dynamic Disturbance Feed-Forward for Uncertain Systems

Köroğlu

2020

2020 59th IEEE Conference on Decision and Control (CDC)

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Joint synthesis of dynamic state feedback is considered together with dynamic disturbance feedforward. First a novel parameter transformation is introduced to derive a new LMI condition for synthesis in the case of LTI systems. This condition forms the basis of a new synthesis method, which can easily be specialized to combination of static or dynamic sate feedback with static or dynamic disturbance feedforward. Moreover, it can also be used to synthesize LTI or scheduled controllers for systems that depend on uncertain time-varying parameters, some of which are not measurable online.

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A feedback-feed-forward steering control strategy for improving lateral dynamics stability of an A-double vehicle at high speeds

Kati

Fredriksson

Jacobson

et al. 2021

Vehicle System Dynamics

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Joint synthesis of dynamic feed-forward and static state feedback for platoon control

Cited by 3 publications

References 26 publications

Robust static output feedback synthesis for platoons under leader and predecessor feedback

Robust static output feedback synthesis for platoons under leader and predecessor feedback

Joint Synthesis of Robust Dynamic State Feedback and Dynamic Disturbance Feed-Forward for Uncertain Systems

A feedback-feed-forward steering control strategy for improving lateral dynamics stability of an A-double vehicle at high speeds

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