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:	https://ieeexplore.ieee.org
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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