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


    Peters, Andrés A. and Mason, Oliver and Middleton, Richard H. (2016) Leader following with non-homogeneous weights for control of vehicle formations. In: 2016 IEEE Conference on Control Applications (CCA). IEEE. ISBN 9781509007554

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    Abstract

    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.

    Item Type: Book Section
    Keywords: control system synthesis; road vehicles; transfer functions;
    Academic Unit: Faculty of Science and Engineering > Mathematics and Statistics
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 10032
    Identification Number: https://doi.org/10.1109/CCA.2016.7587830
    Depositing User: Oliver Mason
    Date Deposited: 01 Oct 2018 16:04
    Publisher: IEEE
    Refereed: Yes
    URI:

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