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.

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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