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

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dc.contributor.author Peters, Andrés A
dc.contributor.author Mason, Oliver
dc.contributor.author Middleton, Richard H
dc.date.accessioned 2017-02-07T14:25:44Z
dc.date.available 2017-02-07T14:25:44Z
dc.date.issued 2016
dc.identifier.uri http://hdl.handle.net/10344/5504
dc.description peer-reviewed en_US
dc.description.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. en_US
dc.language.iso eng en_US
dc.publisher IEEE Computer Society en_US
dc.relation.ispartofseries IEEE Conference on Control Applications (CCA);pp. 109-113
dc.rights © 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. en_US
dc.subject software engineering en_US
dc.subject 1D platoon en_US
dc.title Leader following with non-homogeneous weights for control of vehicle formations en_US
dc.type info:eu-repo/semantics/article en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.identifier.doi 10.1109/CCA.2016.7587830
dc.identifier.doi http://dx.doi.org/10.1109/CCA.2016.7587830
dc.contributor.sponsor SFI en_US
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US


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