Disturbance scaling in bidirectional vehicle platoons with different asymmetry in position and velocity coupling

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00316279" target="_blank" >RIV/68407700:21230/17:00316279 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.automatica.2017.04.010" target="_blank" >http://dx.doi.org/10.1016/j.automatica.2017.04.010</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.automatica.2017.04.010" target="_blank" >10.1016/j.automatica.2017.04.010</a>

Result language
angličtina
Original language name
Disturbance scaling in bidirectional vehicle platoons with different asymmetry in position and velocity coupling
Original language description
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.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems

Project
<a href="/en/project/GA16-19526S" target="_blank" >GA16-19526S: Semidefinite programming certification of control laws for emerging transportation projects</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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