On the optimal localized feedback design for vehicular platoons

Fu Lin, Makan Fardad, Mihailo R. Jovanović

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We consider the design of optimal structured feedback gains for vehicular platoons. We revisit the mistuning design problem proposed by Barooah et al., where the platoon is modeled as a diffusion on a spatial lattice, and a search is performed for structured perturbations of the nominal dynamics that improve the stability properties in a favorable way. We pose the mistuning problem in the structured H2 optimal control framework, where the size of the mistuning feedback gain is kept small by considering an expensive control regime. The coupled matrix equations that result from optimality conditions are conveniently decoupled via the application of perturbation analysis, which yields the unique structured optimal mistuning gain. We then consider less expensive control regimes and employ Newton's method to solve the optimal control problem, while using the solution obtained from mistuning to initialize the iterative homotopy-based scheme.We also consider the issue of scaling, with respect to platoon size, of global and local performance measures in the optimally-controlled platoon.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Number of pages6
StatePublished - 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010


Other2010 American Control Conference, ACC 2010
Country/TerritoryUnited States
CityBaltimore, MD


  • Homotopy
  • Large-scale platoons
  • Mistuning design
  • Newton's method
  • Optimal control
  • Perturbation analysis


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