Decentralized overlapping decomposition and decentralized control of a platoon of vehicles with chain structure

A mathematic model of a platoon of vehicles is established which is with typical chain structure. Based on the inclusion principle, the model is then expanded and decomposed into a group of disjoint subsystem. By applying the linear quadratic (LQ) optimization, a decentralized controller is designed, which can be contracted directly to the original system to get a suboptimal control. The application of the decentralized controller to the system is presented to illustrate the effectiveness of the proposed methodology.