Authors:
Omid Khorsand
;
Assad Alam
and
Ather Gattami
Affiliation:
KTH-Royal Institue of Technology, Sweden
Keyword(s):
Optimal Control, Distributed Control, Linear Quadratic Gaussian Control (LQG), Intelligent Transportation Systems (ITS), Heavy Duty Vehicle (HDV), Platooning.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Intelligent Transportation Technologies and Systems
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems composed of interconnected subsystems over a chain graph. By decomposing the system into orthogonal modes, the cost function can be separated into individual components. Thereby, derivation of the optimal controllers in state-space follows immediately. The optimal controllers are evaluated under the practical setting of heavy duty vehicle platooning with communication constraints. It is shown that the performance can be significantly improved by adding a few communication links. The results show that the proposed optimal distributed controller outperforms a suboptimal controller in terms of control input energy.