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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 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)

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)

- Ivo Herman, Dan Martinec, Zdeněk Hurák, Michael Sebek
- 2014

—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)

- Dan Martinec, Ivo Herman, Michaelšebek
- 2014

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)

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)

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 towards the following vehicle, which is often referred to as an asymmetric bidirectional string. Further, the coupling differences, i.e.,… (More)