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Dynamic Formation Control Design based on Edge Dynamics for Peer-to-Peer Wireless Energy Trading of Vehicle Platoons

This paper proposes an edge dynamics based approach to design a fully distributed PI formation controller for linear multi-agent systems, which is then used for autonomous vehicle platoons as an enabler for peer-to-peer wireless energy trading. A necessary and sufficient condition for controller gains is derived for achieving formation. Thanks to this dynamic formation controller, the external inputs such as reference velocity and reference position, which are needed for lane changing and for proper velocity on wireless charging/discharging lanes, are well handled. The efficiency of the proposed theoretical design is then illustrated by simulation results on a group of autonomous four-wheel vehicles with front-wheel steering.