Transients of platoons with asymmetric and different Laplacians
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Publication:274286
DOI10.1016/J.SYSCONLE.2016.02.013zbMATH Open1337.93010arXiv1504.06075OpenAlexW2138796260MaRDI QIDQ274286FDOQ274286
Dan Martinec, Ivo Herman, J. J. P. Veerman
Publication date: 22 April 2016
Published in: Systems \& Control Letters (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/1504.06075
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Decentralized systems (93A14) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)
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Cited In (7)
- Spectra of certain large tridiagonal matrices
- Dynamics of locally coupled agents with next nearest neighbor interaction
- Vehicular platoons in cyclic interconnections
- Disturbance scaling in bidirectional vehicle platoons with different asymmetry in position and velocity coupling
- Cruise controllers for lane-free ring-roads based on control Lyapunov functions
- Fully distributed consensus control for a class of disturbed second-order multi-agent systems with directed networks
- Network-based control of nonlinear large-scale systems composed of identical subsystems
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