On L∞ string stability of nonlinear bidirectional asymmetric heterogeneous platoon systems. (July 2019)

• Record Type: Journal Article
• Authors: Monteil, Julien; Russo, Giovanni; Shorten, Robert
• Is Part Of: Automatica. Volume 105(2019)
• Page Start: 198
• Page End: 205
• Publication Date: 2019-07
• Subjects: Vehicular platoons -- Multi-vehicle systems -- String stability -- Asymmetric coupling; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2019.03.025
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for L ∞ string stability is presented. The effectiveness of our approach is illustrated via a numerical example, where it is shown how our result can be recast as an optimization problem, allowing to design the control protocol for each vehicle independently on the other vehicles and hence leading to a bottom-up approach for the design of string stable systems able to track a time-varying reference speed.