Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach

This paper proposes a solution to dynamically adjust vehicle platoon trajectories. The goal of the control algorithm is to keep the optimal interdistance between adjacent vehicles proceeding at cruising speed on a straight road. After a proposal of the interdistance required between neighboring vehicles, a robust decentralized controller based on a linear control law provides the speed profile for each component of the platoon. Its objective is to minimize the divergence in space in respect to the planned trajectories while assuring a safe span between adjacent members of the platoon. The results on a limited instance demonstrate the effectiveness of the proposed approach.