Exploiting Heterogeneity in the Decentralised Control of Platoons
(2024) 2024 American Control Conference, ACC 2024 In Proceedings of the American Control Conference p.4210-4215- Abstract
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and 'bidirectional' architectures for vehicle platooning. The former, utilising homogeneous control dynamics, is known to face exponential growth in disturbance amplification throughout the platoon, resulting in poor scalability properties. We demonstrate that by incorporating heterogeneous control system dynamics, this limitation disappears entirely, even under bandwidth constraints. Furthermore, we reveal that introducing heterogeneity in the bidirectional architecture allows the platoon's behaviour to be... (More)
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and 'bidirectional' architectures for vehicle platooning. The former, utilising homogeneous control dynamics, is known to face exponential growth in disturbance amplification throughout the platoon, resulting in poor scalability properties. We demonstrate that by incorporating heterogeneous control system dynamics, this limitation disappears entirely, even under bandwidth constraints. Furthermore, we reveal that introducing heterogeneity in the bidirectional architecture allows the platoon's behaviour to be rendered independent of its length, allowing for highly scalable performance.
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- author
- Pates, Richard LU
- organization
- publishing date
- 2024
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2024 American Control Conference, ACC 2024
- series title
- Proceedings of the American Control Conference
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2024 American Control Conference, ACC 2024
- conference location
- Toronto, Canada
- conference dates
- 2024-07-10 - 2024-07-12
- external identifiers
-
- scopus:85204465437
- ISSN
- 0743-1619
- ISBN
- 9798350382655
- DOI
- 10.23919/ACC60939.2024.10644726
- project
- Optimal estimation and control at scale
- language
- English
- LU publication?
- yes
- additional info
- Publisher Copyright: © 2024 AACC.
- id
- 41bf19f8-ce55-4261-a10c-28c362a88cfb
- date added to LUP
- 2024-12-03 10:52:00
- date last changed
- 2025-04-04 14:58:56
@inproceedings{41bf19f8-ce55-4261-a10c-28c362a88cfb,
abstract = {{<p>This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and 'bidirectional' architectures for vehicle platooning. The former, utilising homogeneous control dynamics, is known to face exponential growth in disturbance amplification throughout the platoon, resulting in poor scalability properties. We demonstrate that by incorporating heterogeneous control system dynamics, this limitation disappears entirely, even under bandwidth constraints. Furthermore, we reveal that introducing heterogeneity in the bidirectional architecture allows the platoon's behaviour to be rendered independent of its length, allowing for highly scalable performance.</p>}},
author = {{Pates, Richard}},
booktitle = {{2024 American Control Conference, ACC 2024}},
isbn = {{9798350382655}},
issn = {{0743-1619}},
language = {{eng}},
pages = {{4210--4215}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
series = {{Proceedings of the American Control Conference}},
title = {{Exploiting Heterogeneity in the Decentralised Control of Platoons}},
url = {{http://dx.doi.org/10.23919/ACC60939.2024.10644726}},
doi = {{10.23919/ACC60939.2024.10644726}},
year = {{2024}},
}