Suboptimal decentralized controller design for chain structures: Applications to vehicle formations

Alam, Assad; Gattami, Ather; Johansson, Karl Henrik

doi:10.1109/cdc.2011.6160938

Cited by 36 publications

(28 citation statements)

References 21 publications

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“…2). Thus, we analyze (14) by initially looking at only-affecting nodes. In fact, given an only-affecting node j which admits an f -ergodic error state, then f -ergodicity of an affected node i is preserved if j is a neighbor of i.…”

Section: Stability Analysismentioning

confidence: 99%

“…It should be noted that the scheduling unit receives true error values from each node and decides the priorities considering the interconnections as well. Therefore, the error values in (8) are given by the expression (14). We define at every time k…”

Section: Stability Analysismentioning

confidence: 99%

“…DAGs are used to model systems with some sort of hierarchy, e.g. vehicle platoons [14]. Exploiting an emulative control approach, we show stability of the resulting interconnected NCS in terms of f -ergodicity.…”

Section: Introductionmentioning

confidence: 97%

See 2 more Smart Citations

Event-based data scheduling for a class of interconnected networked control systems

Mamduhi

Deroo

Hirche

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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Abstract-In this paper we address the problem of eventbased data scheduling for a class of physically interconnected networked control systems which compete for limited communication resources. The overall interconnected system consists of multiple heterogeneous LTI sub-systems with the physical interconnection being modeled by a directed acyclic graph (DAG). The sub-systems are controlled by a networked controller through a shared communication channel. In order to cope with the limited channel capacity, we introduce a bi-character deterministic-probabilistic scheduling mechanism which dynamically assigns access priorities to each sub-system at each time-step according to an error-dependent priority measure. The sub-systems which are granted channel access then transmit their state information through the communication network. Given an emulation-based control strategy, we prove stability of such networked systems under the proposed scheduling law in terms of f -ergodicity of overall network-induced error. Simulation results illustrate the proposed approach and show a reduction in the error variance compared to standard TDMA and uniform random-access scheduling policies.

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Section: Stability Analysismentioning

confidence: 99%

Section: Stability Analysismentioning

confidence: 99%

See 1 more Smart Citation

Event-based data scheduling for a class of interconnected networked control systems

Mamduhi

Deroo

Hirche

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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show abstract

“…u denotes the control input and x is the state vector that entails the speed of the host vehicle, the relative distance to the closest preceding vehicle and the velocity of preceding vehicles in the platoon. For general LQR-design the weighting factors need to be specified and adjusted based upon the results of the specified design goals [40]. The lead vehicle's objective is to follow a given reference velocity.…”

Section: Control Designmentioning

confidence: 99%

The Development of a Cooperative Heavy-Duty Vehicle for the GCDC 2011: Team Scoop

Mårtensson

Alam

Behere

et al. 2012

IEEE Trans. Intell. Transport. Syst.

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Abstract-The first edition of the Grand Cooperative Driving Challenge (GCDC) was held in the Netherlands in May 2011. Nine international teams were competing in urban and highway platooning scenarios with prototype vehicles using cooperative adaptive cruise control. Team Scoop, a collaboration between KTH Royal Institute of Technology in Stockholm and Scania CV AB in Södertälje, participated in the GCDC with a Scania R-series tractor unit. This paper describes the development and design of team Scoop's prototype system for the GCDC. In particular we present considerations regarding system architecture, state estimation and sensor fusion, design and implementation of control algorithms and implementation issues regarding the wireless communication. The purpose of the paper is to give a broad overview of the different components that are needed to develop a cooperative driving system; from architectural design, workflow and functional requirements descriptions to the specific implementation of algorithms for state estimation and control. The approach is more pragmatic than scientific; it collects a number of existing technologies and gives an implementation oriented view of a cooperative vehicle. The main conclusion is that it is possible, with a modest effort, to design and implement a system that can function well in cooperation with other vehicles in realistic traffic scenarios.

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“…For example, issues such as string stability [10]- [12], control designs when platooning [13], and intervehicle communication through limited bandwidth channels [14] or channels with communication delays [15] have been addressed. While there has been some contributions in the control of platoons and individual HDVs, they focus on single highways or congestion control.…”

Section: Introductionmentioning

confidence: 99%

Coordinated route optimization for heavy-duty vehicle platoons

Larson

Kammer

Liang

et al. 2013

16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)

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Abstract-Heavy-duty vehicles traveling in platoons consume fuel at a reduced rate. In this paper, we attempt to maximize this benefit by introducing local controllers throughout a road network to facilitate platoon formations with minimal information. By knowing a vehicle's position, speed, and destination, the local controller can quickly decide how its speed should be possibly adjusted to platoon with others in the near future. We solve this optimal control and routing problem exactly for small numbers of vehicles, and present a fast heuristic algorithm for realtime use. We then implement such a distributed control system through a large-scale simulation of the German autobahn road network containing thousands of vehicles. The simulation shows fuel savings from 1-9%, with savings exceeding 5% when only a few thousand vehicles participate in the system. We assume no vehicles will travel more than the time required for their shortest paths for the majority of the paper. We conclude the results by analyzing how a relaxation of this assumption can further reduce fuel use.

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Suboptimal decentralized controller design for chain structures: Applications to vehicle formations

Cited by 36 publications

References 21 publications

Event-based data scheduling for a class of interconnected networked control systems

Event-based data scheduling for a class of interconnected networked control systems

The Development of a Cooperative Heavy-Duty Vehicle for the GCDC 2011: Team Scoop

Coordinated route optimization for heavy-duty vehicle platoons

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