Hybrid control design for a three vehicle scenario demonstration using overlapping decompositions

Abstract

Hybrid system models, representing both the dynamics of the continuous-time system and the set of distinct, discrete situations that can occur in a true “world”, often tend to be large and unmanageable for controller design. Overlapping decomposition techniques are employed for controller design purposes which aim to regulate the continuous and the discrete states of such complex hybrid systems in a systematic way. In this paper, the hybrid system controller design for a string of three vehicles in a decentralized manner is studied for a scripted scenario. The considered scenario consists of three vehicles all of which will be equipped with on-board sensors and processors, and will be capable of performing advanced maneuvers on highways autonomously. A simulation model has been developed to study the performance of the proposed controller in a laboratory environment, and the control strategy will be tested on three cars by Summer 1997