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—We consider platoons composed of identical vehicles and controlled in a distributed way, that is, each vehicle has its own onboard controller. The regulation errors in spacing to the immediately preceeding and following vehicles are weighted differently by the onboard controller, which thus implements an asymmetric bidirectional control scheme. The weights(More)
The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control algorithm with a wave-absorbing controller implemented on the leader, and/or on the rear-end vehicle. The wave-absorbing(More)
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(More)
—We consider a distributed system with identical agents, constant-spacing policy and asymmetric bidirectional control, where the asymmetry is due to different controllers, which we describe by transfer functions. By applying the wave transfer function approach, it is shown that, if there are two integrators in the dynamics of agents, then the positional(More)
The paper presents a novel approach for the analysis and control of distributed systems with an underlying path-graph topology based on the so-called wave-based control perspective. With the help of irrational wave transfer functions, the approach allows us to identify and describe the travelling waves in heterogenous path graphs. The main advantage of this(More)
—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(More)
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among the agents from the 'local' perspective and identifies the travelling waves in the multi-agent system. The local(More)
—This paper investigates disturbance propagation in vehicular platoons. In particular, we investigate how the H-infinity norm of some chosen transfer functions scale with the number of vehicles in the platoon. Dependency on the number of integrators in open-loop transfer functions is also investigated. The transfer functions are presented in a new and(More)