Coalitional Control Strategy for a Heterogeneous Platoon Application

Anca Maxim, Ovidiu Pauca, Romeo-Gabriel Amariei, Florin-Catalin Braescu and Constantin-Florin Caruntu ()
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Anca Maxim: Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, Romania
Ovidiu Pauca: Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, Romania
Romeo-Gabriel Amariei: Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, Romania
Florin-Catalin Braescu: Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, Romania
Constantin-Florin Caruntu: Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, Romania

Mathematics, 2023, vol. 12, issue 1, 1-22

Abstract: In this work, we propose a coalitional control solution for a multi-agent networked system. The idea is to use a flexible communication topology, in which the communication links are enabled or disabled between sub-systems, depending on their shared task. The control methodology is designed in an optimal control framework, by computing an optimal state feedback gain matrix corresponding to each communication topology. The proposed control algorithm was validated in simulation, and tested in real-time experiments using a heterogeneous vehicle platoon consisting of four mobile robots. Both simulation and experimental results illustrate the efficacy of our proposed methodology.

Keywords: coalitionalcontrol; optimal gain feedback matrix; heterogeneous vehicle platoon; mobile robots (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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