{"title":"Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon","authors":"Alessandro Bozzi, R. Sacile, Enrico Zero","doi":"10.5220/0011272200003271","DOIUrl":null,"url":null,"abstract":": This paper introduces a comparison between a decentralized Proportional Integral Derivative (PID) controller and a centralized Linear Quadratic Tracking (LQT) controller to automatise the exchange of two inner vehicles inside a platoon moving on a straight path. Lomonossoff’s model is used to represent vehicle’s longitudinal dynamics. A case study is presented to demonstrate the effectiveness of both controllers respectively on nonlinear and linearized model.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"231 1","pages":"427-433"},"PeriodicalIF":0.0000,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5220/0011272200003271","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
: This paper introduces a comparison between a decentralized Proportional Integral Derivative (PID) controller and a centralized Linear Quadratic Tracking (LQT) controller to automatise the exchange of two inner vehicles inside a platoon moving on a straight path. Lomonossoff’s model is used to represent vehicle’s longitudinal dynamics. A case study is presented to demonstrate the effectiveness of both controllers respectively on nonlinear and linearized model.
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