An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances
The rapid proliferation of vehicles globally presents significant challenges to road transportation efficiency and safety, including accidents, emissions, energy utilization, and road management. Autonomous vehicle platooning emerges as a promising solution within intelligent transportation systems,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | World Electric Vehicle Journal |
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| Online Access: | https://www.mdpi.com/2032-6653/16/1/28 |
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| author | Nandhini Murugan Mohamed Rabik Mohamed Ismail |
| author_facet | Nandhini Murugan Mohamed Rabik Mohamed Ismail |
| author_sort | Nandhini Murugan |
| collection | DOAJ |
| description | The rapid proliferation of vehicles globally presents significant challenges to road transportation efficiency and safety, including accidents, emissions, energy utilization, and road management. Autonomous vehicle platooning emerges as a promising solution within intelligent transportation systems, offering benefits like reduced fuel consumption and emissions, and optimized road use. However, implementing autonomous vehicle platooning faces obstacles such as stability under disturbances, safety protocols, communication networks, and precise control. This paper proposes a novel control strategy coordinated Kalman observer–Linear Quadratic Regulator (CKO-LQR) to ensure platoon formation stability in the presence of disturbances. The disturbances considered include vehicle movements, sensor noise, and communication delays, with the leading vehicle’s movement serving as the commanding signal. The proposed controller maintains a constant inter-gap distance between vehicles despite the disturbances utilizing a coordinated Kalman observer to estimate preceding vehicle movements. A comparative analysis with conventional PID controllers demonstrates superior performance in terms of faster settling times and robustness against disturbances. This research contributes to enhancing the efficiency and safety of autonomous vehicle platooning systems. |
| format | Article |
| id | doaj-art-c8cbd8b7a42f4b4d85403f8ef5f87b09 |
| institution | Kabale University |
| issn | 2032-6653 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | World Electric Vehicle Journal |
| spelling | doaj-art-c8cbd8b7a42f4b4d85403f8ef5f87b092025-01-24T13:52:48ZengMDPI AGWorld Electric Vehicle Journal2032-66532025-01-011612810.3390/wevj16010028An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under DisturbancesNandhini Murugan0Mohamed Rabik Mohamed Ismail1Department of Mechatronics Engineering, SRM Institute of Science and Technology, Kattankulathur 603203, IndiaDepartment of Mechatronics Engineering, SRM Institute of Science and Technology, Kattankulathur 603203, IndiaThe rapid proliferation of vehicles globally presents significant challenges to road transportation efficiency and safety, including accidents, emissions, energy utilization, and road management. Autonomous vehicle platooning emerges as a promising solution within intelligent transportation systems, offering benefits like reduced fuel consumption and emissions, and optimized road use. However, implementing autonomous vehicle platooning faces obstacles such as stability under disturbances, safety protocols, communication networks, and precise control. This paper proposes a novel control strategy coordinated Kalman observer–Linear Quadratic Regulator (CKO-LQR) to ensure platoon formation stability in the presence of disturbances. The disturbances considered include vehicle movements, sensor noise, and communication delays, with the leading vehicle’s movement serving as the commanding signal. The proposed controller maintains a constant inter-gap distance between vehicles despite the disturbances utilizing a coordinated Kalman observer to estimate preceding vehicle movements. A comparative analysis with conventional PID controllers demonstrates superior performance in terms of faster settling times and robustness against disturbances. This research contributes to enhancing the efficiency and safety of autonomous vehicle platooning systems.https://www.mdpi.com/2032-6653/16/1/28vehicle platoonsadvanced transportation systemsPIDcoordinated linear quadratic regulator |
| spellingShingle | Nandhini Murugan Mohamed Rabik Mohamed Ismail An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances World Electric Vehicle Journal vehicle platoons advanced transportation systems PID coordinated linear quadratic regulator |
| title | An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances |
| title_full | An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances |
| title_fullStr | An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances |
| title_full_unstemmed | An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances |
| title_short | An Efficient Coordinated Observer LQR Control in a Platoon of Vehicles for Faster Settling Under Disturbances |
| title_sort | efficient coordinated observer lqr control in a platoon of vehicles for faster settling under disturbances |
| topic | vehicle platoons advanced transportation systems PID coordinated linear quadratic regulator |
| url | https://www.mdpi.com/2032-6653/16/1/28 |
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