Error Amplification and Disturbance Propagation in Vehicle Strings with Decentralized Linear Control
Error Amplification and Disturbance Propagation in Vehicle Strings with Decentralized Linear Control
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DOI：
10.1109/cdc.2005.1582948
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发表时间：
2005-12
期刊：
影响因子：
--
通讯作者：
P. Barooah;J. Hespanha
中科院分区：
文献类型：
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作者：
P. Barooah;J. Hespanha
我们考虑的问题是控制一串在一维空间中移动的车辆，使它们都跟随一个领头的车辆，并且它们之间的间隔是恒定的。我们研究了对称的双向控制体系结构，其中车辆上的控制动作同样取决于相对于其相邻车辆的间距误差。从间距误差放大和扰动传播两个方面研究了该分散方案的性能。本文建立的结果表明，具有线性控制器的对称双向体系结构在闭环性能方面存在基本限制，这些限制不能通过适当的控制设计来缓解。
We consider the problem of controlling a string of vehicles moving in one dimension so that they all follow a lead vehicle with a constant spacing between successive vehicles. We examine the symmetric bidirectional control architecture, where the control action on a vehicle depends equally on the spacing errors with respect to its adjacent vehicles. Performance of this decentralized scheme in terms of spacing error amplification and disturbance propagation is investigated. The results established in this paper show that a symmetric bidirectional architecture with a linear controller suffers from fundamental limitations on closed loop performance that cannot be mitigated by appropriate control design.