Scaling in bidirectional platoons with dynamic controllers and proportional asymmetry

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00303993" target="_blank" >RIV/68407700:21230/17:00303993 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/TAC.2016.2594169" target="_blank" >http://dx.doi.org/10.1109/TAC.2016.2594169</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TAC.2016.2594169" target="_blank" >10.1109/TAC.2016.2594169</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Scaling in bidirectional platoons with dynamic controllers and proportional asymmetry

Popis výsledku v původním jazyce

We consider platoons composed of identical vehicles with an asymmetric nearest-neighbor interaction. We restrict ourselves to intervehicular coupling realized with dynamic arbitrary-order onboard controllers such that the coupling to the immediately preceding vehicle is proportional to the coupling to the immediately following vehicle. Each vehicle is modeled using a transfer function and we impose no restriction on the order of the vehicle. The only requirement on the controller and vehicle model is that the platoon is stable for any number of vehicles. The platoon is described by a transfer function in a convenient product form. We investigate how the H-infinity norm and the steady-state gain of the platoon scale with the number of vehicles. We conclude that if the open-loop transfer function of the vehicle contains two or more integrators and the second smallest eigenvalue of the graph Laplacian is uniformly bounded from below, the norm scales exponentially with the growing distance in the graph. If there is just one integrator in the open loop, we give a condition under which the norm of the transfer function is bounded by its steady-state gain-the platoon is string-stable. Moreover, we argue that in this case it is always possible to design a controller for the extreme asymmetry-the predecessor following strategy.

Název v anglickém jazyce

Scaling in bidirectional platoons with dynamic controllers and proportional asymmetry

Popis výsledku anglicky

We consider platoons composed of identical vehicles with an asymmetric nearest-neighbor interaction. We restrict ourselves to intervehicular coupling realized with dynamic arbitrary-order onboard controllers such that the coupling to the immediately preceding vehicle is proportional to the coupling to the immediately following vehicle. Each vehicle is modeled using a transfer function and we impose no restriction on the order of the vehicle. The only requirement on the controller and vehicle model is that the platoon is stable for any number of vehicles. The platoon is described by a transfer function in a convenient product form. We investigate how the H-infinity norm and the steady-state gain of the platoon scale with the number of vehicles. We conclude that if the open-loop transfer function of the vehicle contains two or more integrators and the second smallest eigenvalue of the graph Laplacian is uniformly bounded from below, the norm scales exponentially with the growing distance in the graph. If there is just one integrator in the open loop, we give a condition under which the norm of the transfer function is bounded by its steady-state gain-the platoon is string-stable. Moreover, we argue that in this case it is always possible to design a controller for the extreme asymmetry-the predecessor following strategy.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA16-19526S" target="_blank" >GA16-19526S: Certifikace zákonů řízení pro budoucí dopravní systémy pomocí semidefinitního programování</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Automatic Control

ISSN

0018-9286

e-ISSN

1558-2523

Svazek periodika

62

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

7

Strana od-do

2034-2040

Kód UT WoS článku

000399033000043

EID výsledku v databázi Scopus

2-s2.0-85018193186