On L_ string stability of nonlinear bidirectional asymmetric heterogeneous platoon systems

DOI10.1016/J.AUTOMATICA.2019.03.025zbMATH Open1429.93249arXiv1801.07564OpenAlexW2940133473MaRDI QIDQ2280686FDOQ2280686

Authors: Julien Monteil, Giovanni Russo, Robert N. Shorten 

Publication date: 19 December 2019

Published in: Automatica (Search for Journal in Brave)

Abstract: This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for $mathcal{L}_{infty}$ string stability is presented. The effectiveness of our approach is illustrated via a numerical example, where it is shown how our result can be recast as an optimization problem, allowing to design the control protocol for each vehicle independently on the other vehicles and hence leading to a bottom-up approach for the design of string stable systems able to track a time-varying reference speed.

Full work available at URL: https://arxiv.org/abs/1801.07564

Recommendations

• Passivity-based control for multi-vehicle systems subject to string constraints
• Disturbance scaling in bidirectional vehicle platoons with different asymmetry in position and velocity coupling
• Heterogeneous string stability of unidirectionally interconnected MIMO LTI systems
• About string stability of a vehicle chain with unidirectional controller
• String stability of interconnected systems

zbMATH Keywords

vehicular platoonsasymmetric couplingmulti-vehicle systemsstring stability

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cited In (7)

• On disturbance propagation in vehicular platoons with different communication ranges
• Nonlinear spacing policies for vehicle platoons: a geometric approach to decentralized control
• The Yakubovich S-Lemma Revisited: Stability and Contractivity in Non-Euclidean Norms
• Personalized optimization with user's feedback
• Matrix measures, stability and contraction theory for dynamical systems on time scales
• A minimal sensing and communication control strategy for adaptive platooning
• String stable integral control design for vehicle platoons with disturbances

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