Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
751825 | Systems & Control Letters | 2016 | 8 Pages |
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.
Keywords
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Ivo Herman, Dan Martinec, J.J.P. Veerman,