Transients of platoons with asymmetric and different Laplacians
|Title||Transients of platoons with asymmetric and different Laplacians|
|Publication Type||Journal Article|
|Year of Publication||2016|
|Authors||Herman, Ivo, Dan Martinec, and J. J. P. Veerman|
|Journal||Systems & Control Letters|
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.