Transients of platoons with asymmetric and different Laplacians
Title | Transients of platoons with asymmetric and different Laplacians |
Publication Type | Journal Article |
Year of Publication | 2016 |
Authors | Herman, Ivo, Dan Martinec, and J. J. P. Veerman |
Journal | Systems & Control Letters |
Volume | 91 |
Page | 28-35 |
Month | May |
Abstract | We consider an asymmetric control of platoons of identical vehicles with nearest-neighbor interaction. Recent results show that if the vehicle uses different asymmetries for position and velocity errors, the platoon has a short transient and low overshoots. In this paper we investigate the properties of vehicles with friction. To achieve consensus, an integral part is added to the controller, making the vehicle a third-order system. We show that the parameters can be chosen so that the platoon behaves as a wave equation with different wave velocities. Simulations suggest that our system has a better performance than other nearest-neighbor scenarios. Moreover, an optimization-based procedure is used to find the controller properties. |
URL | http://authors.elsevier.com/a/1SiQec8EXPhIg |
DOI | 10.1016/j.sysconle.2016.02.013 |