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Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons

Pates, Richard LU ; Lidström, Carolina LU and Rantzer, Anders LU (2018) 56th IEEE Annual Conference on Decision and Control, CDC 2017 In 56th IEEE Annual Conference on Decision and Control (CDC 2017) p.3461-3466
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
56th IEEE Annual Conference on Decision and Control (CDC 2017)
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
56th IEEE Annual Conference on Decision and Control, CDC 2017
external identifiers
  • scopus:85046163094
DOI
10.1109/CDC.2017.8264166
language
English
LU publication?
yes
id
10dea885-989a-4efb-bcd1-7b08220c6f9f
date added to LUP
2018-02-01 10:50:29
date last changed
2018-05-20 04:40:28
@inproceedings{10dea885-989a-4efb-bcd1-7b08220c6f9f,
  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       = {Pates, Richard and Lidström, Carolina and Rantzer, Anders},
  booktitle    = {56th IEEE Annual Conference on Decision and Control (CDC 2017)},
  language     = {eng},
  pages        = {3461--3466},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Control Using Local Distance Measurements Cannot Prevent Incoherence in Platoons},
  url          = {http://dx.doi.org/10.1109/CDC.2017.8264166},
  year         = {2018},
}