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| 2. |
- Köroglu, Hakan, 1971, et al.
(författare)
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Controller Synthesis for a Homogenous Platoon under Leader and Predecessor Following Scheme
- 2014
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Ingår i: American Control Conference. - 0743-1619. - 9781479932726 ; , s. 1463-1468
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Konferensbidrag (refereegranskat)abstract
- Synthesis of dynamic output-feedback controllers is considered in a homogenous platoon operating under the leader and predecessor following scheme. The problem is formulated as a multi-objective H∞-type synthesis in which the goal is to keep the worst-case spacing error variations induced by the maneuvers of the leader as small as possible, while also avoiding excessively large control inputs. Concerns about possible communication problems are also reflected in the problem formulation. Sufficient solvability conditions are then derived in the form of linear matrix inequalities, which also depend on a scalar parameter over which a line search has to be performed. It is also described how the transient behavior of the platoon can be shaped by a simple additional condition. The procedure is illustrated by some sample designs and simulations in the longitudinal control of vehicle platoons.
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| 3. |
- Köroglu, Hakan, 1971
(författare)
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Improved Conditions for Observer-Based LPV Control with Guaranteed L2-Gain Performance
- 2014
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Ingår i: American Control Conference. - 0743-1619. - 9781479932726 ; , s. 3760-3765
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Konferensbidrag (refereegranskat)abstract
- Synthesis of observer-based LPV controllers is considered with a guaranteed upper bound on the worst-case energy gain from the disturbance input to the performance output. A potentially conservative solution was derived for this problem before based on LMI optimization accompanied with a line search over a scalar variable. A new solution is provided in this paper based on a similar optimization problem, which has a comparable level of off-line computational complexity. It is shown that the new method cannot be any more conservative than the existing one. It is also verified by an example that the new solution can actually provide less conservative results. Another desirable feature of the new solution is that it is bettersuited for multi-objective synthesis.
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| 4. |
- Köroglu, Hakan, 1971, et al.
(författare)
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Joint Synthesis of Dynamic Feed-Forward and Static State Feedback for Platoon Control
- 2014
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 0743-1546 .- 2576-2370. ; 2015-February, s. 4503-4508
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Konferensbidrag (refereegranskat)abstract
- Joint synthesis of static state-feedback and dynamic feed-forward is considered for a homogenous platoon operating under the leader and predecessor following scheme. The problem is formulated with two H-infinity type performance objectives. The first objective requires the first vehicle to respond in a desirable way to the maneuvers of the leader and it is to be realized by a joint synthesis of the feed-forward filter together with a state feedback gain. Novel LMI conditions are derived for this objective by fixing the order and the poles of the filter. The second objective aims at preventing the amplification of the errors backward along the platoon, while also maintaining robustness against communication problems with the leader. New sufficient LMI conditions are provided for this objective, based on which leader and predecessor feedback gain matrices can be constructed.
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| 5. |
- Köroglu, Hakan, 1971, et al.
(författare)
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New LMI Conditions for Static Output Feedback Synthesis with Multiple Performance Objectives
- 2014
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. ; 2015-February, s. 866-871
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Konferensbidrag (refereegranskat)abstract
- The static output feedback synthesis problem is considered with H-infinity and generalized H-two performance objectives. New sufficient LMI conditions are derived for guaranteeing the required performance objectives. These conditions also depend on scalar parameters that need to be fixed beforehand. The output feedback gain matrix is computed from the involved matrix variables without the use of system matrices. Hence the conditions can directly be used to solve the multi-objective synthesis problem also for parameter-dependent systems with constant or parameter-dependent gain matrices. The method is illustrated in the adaptive cruise control problem.
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| 6. |
- Köroglu, Hakan, 1971
(författare)
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Observer-based linear parameter-varying control with guaranteed L2-gain and H2-type performance objectives
- 2014
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Ingår i: International Journal of Robust and Nonlinear Control. - : Wiley. - 1099-1239 .- 1049-8923. ; 24:14, s. 2000-2017
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Tidskriftsartikel (refereegranskat)abstract
- Synthesis of an observer-based linear parameter-varying controller is considered for a general linearparameter-varying plant. The parameter vector and its derivative are both assumed to take values in knownbounded domains, whereas only the parameter vector is assumed to be measurable during online operation.The synthesis problem is considered for L2-gain and H2-type performance objectives. Potentially conservativeparameter-dependent linear matrix inequality conditions are derived for the solvability of these twoproblems. To facilitate the reduction of conservatism, the conditions are expressed in a way to have bilineardependence on an arbitrary positive scalar. In addition to employing a suitable relaxation scheme to reducethese conditions into finitely many constraints, a line search hence needs to be performed over the positivescalar to obtain the best achievable performance with an observer-based controller. The online implementationof the observer-based controller is relatively simpler if compared with a controller of unrestrictedstructure. Moreover, the observer-based controller will have no dependence on the parameter derivativesirrespective of the choices of the design variables.
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| 7. |
- Köroglu, Hakan, 1971, et al.
(författare)
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State Feedback Synthesis for Homogenous Platoons under the Leader and Predecessor Following Scheme
- 2014
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Ingår i: Proceedings of European Control Conference, June 24-27, 2014, Strasbourg, France. - 9783952426913 ; , s. 2655-2660
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Konferensbidrag (refereegranskat)abstract
- Synthesis of state-feedback controllers is considered for a homogenous platoon operating under the leader and predecessor following scheme. The problem is formulated as a multi-objective H-infinity type synthesis. The performance specifications are shaped by the string stability objective and prevention of extensive control effort, as well as by the concerns about the communication problems with the leader. Sufficient LMI conditions are then provided for the synthesis of common statefeedback gains. Some aspects of the developed approach are illustrated in the longitudinal control of a vehicle platoon.
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