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Leader following with non-homogeneous weights for control of vehicle formations

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posted on 2017-02-07, 14:25 authored by Andrés A Peters, Oliver Mason, Richard H Middleton
In this paper, we study a formation control scheme that achieves a tight formation in a 1D platoon. The scheme achieves constant inter-vehicle spacings (with no transient) for almost every vehicle pair whenever there are no disturbances. We build up from the basic leader following approach with a modification in the weight selection. In particular, each member tracks the movement of its immediate predecessor but also uses the leader state, which needs to be transmitted, in order to achieve a tight formation. The key design choice is the use of filters for the measurements that set the transfer functions from the leader trajectory to the inter-vehicle spacings to zero whenever possible. We support the analysis of the architecture with numerical simulations.

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Publication

IEEE Conference on Control Applications (CCA);pp. 109-113

Publisher

IEEE Computer Society

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peer-reviewed

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SFI

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© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Language

English

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