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Article
Transients of Platoons with Asymmetric and Different Laplacians
Mathematics and Statistics Faculty Publications and Presentations
  • Ivo Herman, Czech Technical University, Prague
  • Dan Martinec, Czech Technical University, Prague
  • J. J. P. Veerman, Portland State University
Document Type
Pre-Print
Publication Date
9-1-2015
Subjects
  • Wave equation,
  • Laplacian operators,
  • Nearest neighbor analysis (Statistics),
  • Mathematical optimization
Disciplines
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.
Description

This work is licensed under a Creative Commons Attribution 4.0 International License. http://creativecommons.org/licenses/by/4.0/

This is the author’s version of a work that was accepted for publication in Systems & Control Letters. Changes resulting from the publishing process, such as structural formatting, and other quality control mechanisms may not be reflected in this document. A definitive version was subsequently published 2016 by Elsevier.

DOI
10.1016/j.sysconle.2016.02.013
Persistent Identifier
http://archives.pdx.edu/ds/psu/16535
Citation Information
Herman, I., Martinec, D., & Veerman, J. J. P. (2016). Transients of platoons with asymmetric and different Laplacians. Systems & Control Letters, 91, 28–35.