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Disturbance scaling in bidirectional vehicle platoons with different asymmetry in position and velocity coupling
Czech Tech Univ, Dept Control Engn, Prague, Czech Republic..
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
2017 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 82, 13-20 p.Article in journal (Refereed) Published
Abstract [en]

This paper considers a string of vehicles where the local control law uses the states of the vehicle's immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling with the following vehicle, which is referred to as an asymmetric bidirectional string. Further, the asymmetry for the velocity coupling can be chosen differently to the asymmetry in the position coupling. It is investigated how the effect of the disturbance on the control errors in the string depends on the string length. It is shown, that in case of symmetric position coupling and asymmetric velocity coupling, linear scaling can be achieved. For symmetric interactions, the errors scale quadratically in the number of vehicles. When the coupling in position is asymmetric, exponential scaling may occur or the system might even become unstable. The paper thus gives a comprehensive overview of the achievable performance in linear, asymmetric, bidirectional platoons. The results reveal that symmetry in the position coupling and asymmetry in velocity coupling qualitatively improve the performance of the string. Extensive numerical results illustrate the theoretical findings.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2017. Vol. 82, 13-20 p.
Keyword [en]
Port-Hamiltonian systems, Vehicular platoons, Multi-vehicle systems, Scaling, Asymmetry
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:uu:diva-328962DOI: 10.1016/j.automatica.2017.04.010ISI: 000403984300002OAI: oai:DiVA.org:uu-328962DiVA: diva2:1140602
Available from: 2017-09-12 Created: 2017-09-12 Last updated: 2017-09-12Bibliographically approved

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Knorn, SteffiAhlén, Anders

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