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Decentralized control and estimation for a platoon of autonomous vehicles with a circulant communication network

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2 Author(s)
Roberson, D.G. ; Bradley Dept. of Electr. & Comput. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA ; Stilwell, D.J.

Decentralized control and estimation for an autonomous vehicle platoon is complicated by the effects of intervehicle coupling. A state transformation is derived that simplifies design when the platoon communication network is circulant. The design process is illustrated with a formation control example

Published in:

American Control Conference, 2006

Date of Conference:

14-16 June 2006