Expander Families as Information Patterns for Distributed Control of Vehicle Platoons

Expander Families as Information Patterns for Distributed Control of Vehicle Platoons

Title : Expander Families as Information Patterns for Distributed Control of Vehicle Platoons
Authors :
Menon, Anup
Baras, John, S.
Conference : 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems(NecSys 2012) pp. 288-293
Date: September 14 - September 15, 2012

A state space formulation of the distributed control of a 1-D vehicle platoon is considered. The objective is to understand the effects of the underlying information exchange pattern between the vehicles on the control performance of the platoon. The symmetric control case is considered where each vehicle gives equal weight to all the information available to it in determining its control law. It is shown that expander families of graphs when used as information patterns result in stability margins decaying to zero at rate at most O(1/N); an improvement over the previously known O(1/N^2) decay with nearest neighbor type information patterns.

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