Energiebasierte Regelung von Fahrzeugkolonnen in der Ebene

  • Energy-based control of platoons moving on the plane

Chávez Grunewald, Martín Guillermo

Aachen (2011)

Zugl.: Aachen, Techn. Hochsch., Diss., 2011


The present PhD. thesis treats mainly control laws for groups of vehicles moving on the plane. For this, an energy based control method is examined, which belongs to the group of complex differential geometric nonlinear control strategies. Four different vehicle models are used as basis for investigation, design and validation. The central practical goals are the optimization of road traffic by means of automated vehicle platoons and the coordination of multiple units in the robotic field. From a theoretical point of view the main objective consists of mathematically addressing some issues on the area of differential geometric energy-based control.