REMINDER
The Centre for Transport Studies is pleased to welcome
Professor Jack Haddad
(Technion - Israel Institute of Technology, Haifa, Israel)
to lead a seminar entitled
Vehicle Platoon Formation Using Interpolating Control: A Laboratory Experimental Analysis
to be held
Thursday 18 August 2016 @ 16:00
Please join us for presentation and discussion at
Room 601, 6th floor, Skempton (Civil Eng.) Building, Imperial College London
Abstract
This work addresses the formation phase of automatic platooning. The objective is to optimally control the throttle of vehicles, with a given arbitrary initial condition, such that desired ground speed and inter-vehicular spacings are reached. The steering of the vehicles is also controlled, because the vehicles should track a desired path while forming the platoon. In order to address the platoon formation problem, a cooperative strategy is formed by constructing a discrete state space model which represents the dynamics of a set of n vehicles. Once this model is set, a control method known as Interpolating Control, which aims at regulating to the origin an uncertain and/or time-varying linear discrete-time system with state and control constraints, is utilized. The performance of this control method is evaluated and compared with other approaches such as Model Predictive Control (MPC).
Simulations are conducted which suggest that the Interpolating Control approach can be seen as an alternative to optimization-based control schemes such as Model Predictive Control, especially for problems requiring complex calculations to find the optimal solution, where the Interpolating Control approach can provide a straightforward sub-optimal solution.
In the experimental part of this work, the control algorithms for the platoon formation and path tracking problems are combined, and tested in a laboratory environment, using three mobile robots equipped with wireless routers. Validation of the proposed models and control algorithms is achieved by successful experiments.
About the Speakers
Jack Haddad is currently an Assistant Professor of Transportation Engineering at the Civil and Environmental Engineering faculty, the Technion - Israel Institute of Technology, Haifa, Israel. He is also the Head of the Technion Sustainable Mobility and Robust Transportation (T-SMART) Laboratory. Jack received all his degrees B.Sc. (2003), M.Sc. (2006), and Ph.D. (2010) in Transportation Engineering from the Technion. He served as a post-doctoral researcher (2010-2013) at the Urban Transport Systems Laboratory (LUTS), EPFL, Switzerland. In 2008, he was a visiting Ph.D. student at the Delft Center for Systems and Control (DCSC), Delft University of Technology, the Netherlands. His main research interests include management and control of transport systems, traffic light control, optimal control theory, Model Predictive Control, and hybrid systems.
About the CTS Seminar Series
The CTS seminar series aims to facilitate discussion on current research topics in the transport field. Seminars are held jointly with our colleagues in the Centre for Transport Studies at University College London. They are usually held on Wednesday afternoons at Imperial College London or University College London.
Seminars are free of charge and open to all interested parties.
Please register for this event using the following link: https://goo.gl/5R2ZZP
For further information: http://www.imperial.ac.uk/transport-studies/cts-seminars/
CTS home: www.imperial.ac.uk/cts<http://www.imperial.ac.uk/cts> (Imperial College London)
www.cege.ucl.ac.uk/cts<http://www.cege.ucl.ac.uk/cts> (University College London)
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