Scaling in vehicle platoons
Typ dokumentu
Thesisdisertační práce
Autor
Herman, Ivo
Vedoucí práce
Šebek, Michal
Hurák, Zdeněk
Studijní obor
Řídicí technika a robotikaStudijní program
Elektrotechnika a informatikaInstituce přidělující hodnost
České vysoké učení technické v Praze. Fakulta elektrotechnická. Katedra řídicí technikyMetadata
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This thesis deals with analysis of scaling in autonomous vehicle platoons in
which vehicles keep xed distance to their neighbors. The vehicles are modelled
as linear single-input single-output systems of arbitrary order. In order to control
themselves, the vehicles use information from their nearest neighbors their
predecessor and successor. The states used for coupling are mainly position and
velocity, but other states are allowed too. The errors to neighbors in these states
can be weighted di erently, hence the control law is asymmetric. Using the tools
from distributed control, properties of platoons are analyzed. A comprehensive
overview of the properties of platoons when identical asymmetry in all states is
given. With the help of a newly derived product form of a transfer function in a
network system, the steady-state gain, stability, string stability and particularly
H1 norms are analyzed. The most important aspect specifying the scaling rate
is the number of integrators in the open loop. For one integrator in the open
loop the scaling of the H1 norm is quadratic for symmetric control and linear
for asymmetric control. For two and more integrators the scaling is cubical for
symmetric control and exponential for asymmetric. Since there is no good control
for two integrators in the open loop with identical asymmetry, symmetric
coupling in position and asymmetric in velocity is proposed. Such control is,
at least for the cases analyzed in the thesis, superior to both completely symmetric
and completely asymmetric control. It has similar convergence time as
asymmetric control but it still keeps the bounded control e ort as the symmetric
control does.
Kolekce
- Disertační práce - 13000 [713]
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