2014/10/15 by Ivo Herman, Herman, Ivo, Dan Martinec +5
Engineering · Social Sciences · #FOS: Electrical engineering #Systems and Control (eess.SY) #Traffic control and management #Transportation Planning and Optimization #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1410.3943
openalex publication_date 2014/10/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We consider platoons composed of identical vehicles with an asymmetric\nnearest-neighbor interaction. We restrict ourselves to intervehicular coupling\nrealized with dynamic arbitrary-order onboard controllers such that the\ncoupling to the immediately preceding vehicle is proportional to the coupling\nto the immediately following vehicle. Each vehicle is modeled using a transfer\nfunction and we impose no restriction on the order of the vehicle. The platoon\nis described by a transfer function in a convenient product form. We\ninvestigate how the H-infinity norm and the steady-state gain of the platoon\nscale with the number of vehicles. We conclude that if the open-loop transfer\nfunction of the vehicle contains two or more integrators and the Fiedler\neigenvalue of the graph Laplacian is uniformly bounded from below, the norm\nscales exponentially with the growing distance in the graph. If there is just\none integrator in the open loop, we give a condition under which the norm of\nthe transfer function is bounded by its steady-state gain - the platoon is\nstring-stable. Moreover, we argue that in this case it is always possible to\ndesign a controller the predecessor following strategy.\n