Stochastic Inclusion Principle Applied to Decentralized Overlapping Suboptimal LQG Control of a Platoon of Vehicles

In this paper the Stochastic Inclusion Principle is applied to decentralized LQG suboptimal longitudinal control design of a platoon of automotive vehicles. Starting from a stochastic linearized platoon state model, input/state overlapping subsystems are defined and extracted after an adequate expansion. An algorithm for approximate LQG optimization of these subsystems is developed. Vehicle controllers obtained after contraction, provide high performance tracking and noise immunity.