Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon

被引：0
作者：
Bozzi, Alessandro [1 ]
Sacile, Roberto [1 ]
Zero, Enrico [1 ]
机构：
[1] Univ Genoa, DIBRIS Dept Informat Bioengn Robot & Syst Engn, Genoa, Italy
来源：
PROCEEDINGS OF THE 19TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (ICINCO) | 2022年
关键词：
Autonomous Vehicles; PID; Linear Quadratic Control; Platooning; AUTONOMOUS VEHICLE; SAFETY;
D O I：
10.5220/0011272200003271
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a comparison between a decentralized Proportional Integral Derivative (PID) controller and a centralized Linear Quadratic Tracking (LQT) controller to automatise the exchange of two inner vehicles inside a platoon moving on a straight path. Lomonossoff's model is used to represent vehicle's longitudinal dynamics. A case study is presented to demonstrate the effectiveness of both controllers respectively on nonlinear and linearized model.
引用
收藏
页码：427 / 433
页数：7
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