# 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.

Download#### 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