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Optimization Theory, Decision Making, and Operations Research Applications pp 223–239Cite as

Stochastic Decentralized Control of a Platoon of Vehicles Based on the Inclusion Principle

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Part of the book series: Springer Proceedings in Mathematics & Statistics ((PROMS,volume 31))

Abstract

In this paper the Stochastic Inclusion Principle is applied to decentralized Linear Quadratic Gaussian (LQG) suboptimal longitudinal control design of a platoon of automotive vehicles. Starting from a stochastic linearized platoon state model, input/state overlapping subsystems are identified and extracted after an adequate expansion. An algorithm for approximate LQG optimization of these subsystems is developed in accordance with their hierarchical lower-block-triangular (LBT) structure. Vehicle controllers obtained after contraction, which leaves the local Kalman filters uncontracted, provide high performance tracking and noise immunity. Simulation results illustrate characteristic properties of the proposed algorithm.

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Acknowledgments

We are grateful to the staff of the PATH Program from the University of Berkeley for real measurement data.

This work is supported by Project Grant III44004 (2011–2014) financed by the Ministry of Education and Science, Republic of Serbia.

Author information

Authors and Affiliations

  1. Faculty of Electrical Engineering, University of Belgrade, Belgrade, Serbia

    Srdjan S. Stanković

  2. Faculty of Transport and Traffic Engineering, University of Belgrade, Belgrade, Serbia

    Milorad J. Stanojević

  3. School of Engineering, Santa Clara University, Santa Clara, CA, USA

    Dragoslav D. Šiljak

Authors
  1. Srdjan S. Stanković
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  2. Milorad J. Stanojević
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  3. Dragoslav D. Šiljak
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Corresponding author

Correspondence to Srdjan S. Stanković .

Editor information

Editors and Affiliations

  1. , Faculty of Engineering, Aristotle University of Thessaloniki, Thessaloniki, 54124, Greece

    Athanasios Migdalas

  2. , Economical and Social Sciences, University of Macedonia, Loggou-Tourpali, Naoussa, 59200, Greece

    Angelo Sifaleras

  3. , Department of Applied Informatics, University of Macedonia, Egnatia St. 156, Thessaloniki, 54006, Greece

    Christos K. Georgiadis

  4. , Department of Marketing and Operations M, University of Macedonia, Agiou Dimitriou 49, Edessa, 58200, Greece

    Jason Papathanasiou

  5. , Department of Applied Informatics, University of Macedonia, Egnatia Street 156, Thessaloniki, 54006, Greece

    Emmanuil Stiakakis

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Stanković, S.S., Stanojević, M.J., Šiljak, D.D. (2013). Stochastic Decentralized Control of a Platoon of Vehicles Based on the Inclusion Principle. In: Migdalas, A., Sifaleras, A., Georgiadis, C., Papathanasiou, J., Stiakakis, E. (eds) Optimization Theory, Decision Making, and Operations Research Applications. Springer Proceedings in Mathematics & Statistics, vol 31. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-5134-1_16

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