Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons

Richard Pates; Carolina Lidström; Anders Rantzer

doi:10.1109/CDC.2017.8264166

Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons

Richard Pates, Carolina Lidström, Anders Rantzer

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i proceeding › Peer review

349 Nedladdningar (Pure)

Sammanfattning

When local control strategies are used to arrange a platoon into a string like formation, there is mounting evidence that a poorly regulated accordion like motion will emerge. In this paper we prove that this is an inevitable consequence of using local distance measurements to design the control. More specifically we demonstrate that no controller, irrespective of its dynamical complexity, sparsity, or linearity, can prevent the appearance of macroscopic behaviours in the platoon if only noisy measurements of the distances between neighbouring vehicles are available.

Originalspråk	engelska
Titel på värdpublikation	56th IEEE Annual Conference on Decision and Control (CDC 2017)
Förlag	IEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor	3461-3466
Antal sidor	6
DOI	https://doi.org/10.1109/CDC.2017.8264166
Status	Published - 2018 jan.
Evenemang	56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australien Varaktighet: 2017 dec. 12 → 2017 dec. 15 Konferensnummer: 56 http://cdc2017.ieeecss.org/

Konferens

Konferens	56th IEEE Annual Conference on Decision and Control, CDC 2017
Förkortad titel	CDC 2017
Land/Territorium	Australien
Ort	Melbourne
Period	2017/12/12 → 2017/12/15
Internetadress	http://cdc2017.ieeecss.org/

Ämnesklassifikation (UKÄ)

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10.1109/CDC.2017.8264166

VehiclePlatoonsAccepterat manuskript från författare, 327 KB

Distributed Control and Verification
Bergeling, C., Chong, M., Pates, R., Yamamoto, K. & Rantzer, A.
2017/09/01 → 2018/12/31
Projekt: Forskning

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@inproceedings{10dea885989a4efbbcd17b08220c6f9f,

title = "Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons",

abstract = "When local control strategies are used to arrange a platoon into a string like formation, there is mounting evidence that a poorly regulated accordion like motion will emerge. In this paper we prove that this is an inevitable consequence of using local distance measurements to design the control. More specifically we demonstrate that no controller, irrespective of its dynamical complexity, sparsity, or linearity, can prevent the appearance of macroscopic behaviours in the platoon if only noisy measurements of the distances between neighbouring vehicles are available.",

author = "Richard Pates and Carolina Lidstr{\"o}m and Anders Rantzer",

year = "2018",

month = jan,

doi = "10.1109/CDC.2017.8264166",

language = "English",

pages = "3461--3466",

booktitle = "56th IEEE Annual Conference on Decision and Control (CDC 2017)",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "56th IEEE Annual Conference on Decision and Control, CDC 2017, CDC 2017 ; Conference date: 12-12-2017 Through 15-12-2017",

url = "http://cdc2017.ieeecss.org/",

}

Pates, R , Lidström, C & Rantzer, A 2018, Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons. i 56th IEEE Annual Conference on Decision and Control (CDC 2017). IEEE - Institute of Electrical and Electronics Engineers Inc., s. 3461-3466, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australien, 2017/12/12. https://doi.org/10.1109/CDC.2017.8264166

Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons. / Pates, Richard ; Lidström, Carolina ; Rantzer, Anders.
56th IEEE Annual Conference on Decision and Control (CDC 2017). IEEE - Institute of Electrical and Electronics Engineers Inc., 2018. s. 3461-3466.

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i proceeding › Peer review

TY - GEN

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AU - Pates, Richard

AU - Lidström, Carolina

AU - Rantzer, Anders

N1 - Conference code: 56

PY - 2018/1

Y1 - 2018/1

N2 - When local control strategies are used to arrange a platoon into a string like formation, there is mounting evidence that a poorly regulated accordion like motion will emerge. In this paper we prove that this is an inevitable consequence of using local distance measurements to design the control. More specifically we demonstrate that no controller, irrespective of its dynamical complexity, sparsity, or linearity, can prevent the appearance of macroscopic behaviours in the platoon if only noisy measurements of the distances between neighbouring vehicles are available.

AB - When local control strategies are used to arrange a platoon into a string like formation, there is mounting evidence that a poorly regulated accordion like motion will emerge. In this paper we prove that this is an inevitable consequence of using local distance measurements to design the control. More specifically we demonstrate that no controller, irrespective of its dynamical complexity, sparsity, or linearity, can prevent the appearance of macroscopic behaviours in the platoon if only noisy measurements of the distances between neighbouring vehicles are available.

U2 - 10.1109/CDC.2017.8264166

DO - 10.1109/CDC.2017.8264166

M3 - Paper in conference proceeding

SP - 3461

EP - 3466

BT - 56th IEEE Annual Conference on Decision and Control (CDC 2017)

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017

Y2 - 12 December 2017 through 15 December 2017

ER -

Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons

Sammanfattning

Konferens

Ämnesklassifikation (UKÄ)

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Projekt

Distributed Control and Verification

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