An information flow filter approach to cooperative vehicle control

Publikationstyp
Conference Paper
Date Issued
2011
Sprache
English
Author(s)
Pilz, Ulf  
Popov, Andrey  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14765
Journal
IFAC Proceedings Volumes  
Volume
44
Issue
1
Start Page
7432
End Page
7437
Citation
IFAC Proceedings Volumes (IFAC-PapersOnline) 44 (1) : 7432-7437 (2011)
Contribution to Conference
18th World congress. International Federation of Automatic Control (IFAC), 2011  
Publisher DOI
10.3182/20110828-6-IT-1002.01102
Scopus ID
2-s2.0-84866772540
This paper extends an previously proposed information flow filter approach to cooperative vehicle control to guarantee stability of a vehicle formation under arbitrary communication topologies. A systematic design technique for this information flow filter is the main contribution of this work. For this purpose an alternative interpretation of a separation theorem that allows the independent design of the information flow filter and the controllers for the vehicles is presented. The advantages of this approach are illustrated in simulation studies. © 2011 IFAC.
Subjects
Autonomous systems
Cooperative control
Distributed control
Multi-agent systems
Robust stability
DDC Class
600: Technik
620: Ingenieurwissenschaften