Transients of platoons with asymmetric and different Laplacians

• DOI: 10.1016/j.sysconle.2016.02.013
• Publication Date: 2016-03-14T06:30:25Z
• Authors: Ivo Herman; Dan Martinec; J.J.P. Veerman
• Keywords: Position (finance); Transient (computer programming)

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.