Decentralized control of a large platoon of vehicles using non-identical controllers

  title={Decentralized control of a large platoon of vehicles using non-identical controllers},
  author={M. Khatir and E. J. Davison},
  journal={Proceedings of the 2004 American Control Conference},
  pages={2769-2776 vol.3}
This paper studies the decentralized control of a platoon of identical vehicles when each control agent is assumed to only have knowledge of the distance between itself and its immediate forward neighbor. In particular, it is desired to solve the decentralized robust servomechanism problem (RSP), so that the vehicles' separation distances are regulated to specified set points, independent of the lead vehicle's velocity and such that the system is string stable. It is shown that for a large… CONTINUE READING
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