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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

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

Automatica

ISSN

0005-1098

e-ISSN

1873-2836

Svazek periodika

82

Číslo periodika v rámci svazku

August

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

8

Strana od-do

13-20

Kód UT WoS článku

000403984300002

EID výsledku v databázi Scopus

2-s2.0-85018981077