Article
Transients of Platoons with Asymmetric and Different Laplacians
Mathematics and Statistics Faculty Publications and Presentations
Sponsor
J.J.P. Veerman's research was partially supported by the European Union's Seventh Framework Program (FP7-REGPOT-2012- 2013-1) under grant agreement n316165. I. Herman was supported by the Czech Science Foundation within the project GACR 13-06894S.
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.
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.
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.