Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles

C Santos; F Espinosa; E. Santiso; M. Martinez; M. Mazo

Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles

C Santos, F Espinosa, E. Santiso, M. Martinez, M. Mazo

Team Tamas Keviczky

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

4 Citations (Scopus)

Abstract

—This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking non-linear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled.
A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a significant reduction in the number of times the channel is accessed. In addition, a decentralized self-triggered controller is designed for each follower to track
nonlinear trajectories. With this self-triggered approach, each vehicle monitors its own state only at precise instants. The main contribution of this proposal is to reduce the wireless channel load while preserving the tracking performance of the convoy.

Original language	English
Title of host publication	Proceedings of the 2015 IEEE 18th International Conference on Intelligent Transportation Systems
Editors	JJ Sanchez-Medina
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE Society
Pages	1983-1988
Publication status	Published - 2015
Event	18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain - Piscataway, Gran Canaria, Spain Duration: 15 Sept 2015 → 18 Sept 2015 Conference number: 18

Publication series

Name
Publisher	IEEE

Conference

Conference	18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain
Abbreviated title	ITSC 2015
Country/Territory	Spain
City	Gran Canaria
Period	15/09/15 → 18/09/15

Cite this

@inproceedings{d3d60448c7534732992951c01f3b1a62,

title = "Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles",

abstract = "—This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking non-linear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled.A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a significant reduction in the number of times the channel is accessed. In addition, a decentralized self-triggered controller is designed for each follower to tracknonlinear trajectories. With this self-triggered approach, each vehicle monitors its own state only at precise instants. The main contribution of this proposal is to reduce the wireless channel load while preserving the tracking performance of the convoy.",

author = "C Santos and F Espinosa and E. Santiso and M. Martinez and M. Mazo",

year = "2015",

language = "English",

publisher = "IEEE Society",

pages = "1983--1988",

editor = "JJ Sanchez-Medina",

booktitle = "Proceedings of the 2015 IEEE 18th International Conference on Intelligent Transportation Systems",

note = "18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain, ITSC 2015 ; Conference date: 15-09-2015 Through 18-09-2015",

}

Santos, C, Espinosa, F, Santiso, E, Martinez, M & Mazo, M 2015, Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles. in JJ Sanchez-Medina (ed.), Proceedings of the 2015 IEEE 18th International Conference on Intelligent Transportation Systems. IEEE Society, Piscataway, NJ, USA, pp. 1983-1988, 18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain, Gran Canaria, Spain, 15/09/15.

Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles. / Santos, C; Espinosa, F; Santiso, E. et al.
Proceedings of the 2015 IEEE 18th International Conference on Intelligent Transportation Systems. ed. / JJ Sanchez-Medina. Piscataway, NJ, USA: IEEE Society, 2015. p. 1983-1988.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles

AU - Santos, C

AU - Espinosa, F

AU - Santiso, E.

AU - Martinez, M.

AU - Mazo, M.

N1 - Conference code: 18

PY - 2015

Y1 - 2015

N2 - —This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking non-linear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled.A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a significant reduction in the number of times the channel is accessed. In addition, a decentralized self-triggered controller is designed for each follower to tracknonlinear trajectories. With this self-triggered approach, each vehicle monitors its own state only at precise instants. The main contribution of this proposal is to reduce the wireless channel load while preserving the tracking performance of the convoy.

AB - —This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking non-linear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled.A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a significant reduction in the number of times the channel is accessed. In addition, a decentralized self-triggered controller is designed for each follower to tracknonlinear trajectories. With this self-triggered approach, each vehicle monitors its own state only at precise instants. The main contribution of this proposal is to reduce the wireless channel load while preserving the tracking performance of the convoy.

M3 - Conference contribution

SP - 1983

EP - 1988

BT - Proceedings of the 2015 IEEE 18th International Conference on Intelligent Transportation Systems

A2 - Sanchez-Medina, JJ

PB - IEEE Society

CY - Piscataway, NJ, USA

T2 - 18th international conference on intelligent transportation systems, ITSC 2015, Las Palmas, Spain

Y2 - 15 September 2015 through 18 September 2015

ER -

Aperiodic consensus control for tracking nonlinear trajectories of a platoon of vehicles

Abstract

Publication series

Conference

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