Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach

Alessandro Bozzi, Enrico Zero, Roberto Sacile, Chiara Bersani

2021

Abstract

This paper proposes a solution to dynamically adjust vehicle platoon trajectories. The goal of the control algorithm is to keep the optimal interdistance between adjacent vehicles proceeding at cruising speed on a straight road. After a proposal of the interdistance required between neighboring vehicles, a robust decentralized controller based on a linear control law provides the speed profile for each component of the platoon. Its objective is to minimize the divergence in space in respect to the planned trajectories while assuring a safe span between adjacent members of the platoon. The results on a limited instance demonstrate the effectiveness of the proposed approach.

Paper Citation

in Harvard Style

Bozzi A., Zero E., Sacile R. and Bersani C. (2021). Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 410-415. DOI: 10.5220/0010550704100415

in Bibtex Style

@conference{icinco21,
author={Alessandro Bozzi and Enrico Zero and Roberto Sacile and Chiara Bersani},
title={Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={410-415},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010550704100415},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
SN - 978-989-758-522-7
AU - Bozzi A.
AU - Zero E.
AU - Sacile R.
AU - Bersani C.
PY - 2021
SP - 410
EP - 415
DO - 10.5220/0010550704100415