We consider a graph-theoretic approach to the performance and robustness of a platoon of vehicles, in which each vehicle communicates with its $k$ -nearest neighbors. In particular, we quantify the platoon’s stability margin, robustness to disturbances (in terms of system $\mathcal {H}_{\infty }$ norm), and maximum delay tolerance via graph-theoretic notions, such as nodal degrees and (grounded) Laplacian matrix eigenvalues. The results show that there is a trade-off between robustness to time delay and robustness to disturbances. Both first-order dynamics (reference velocity tracking) and second-order dynamics (controlling inter-vehicular distance) are analyzed in this direction. Theoretical contributions are confirmed via simulation results.
Graph Theoretic Approach to the Robustness of $k$ -Nearest Neighbor Vehicle Platoons
IEEE Transactions on Intelligent Transportation Systems ; 18 , 11 ; 3218-3224
2017-11-01
874470 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Graph Theoretic Approach to the Robustness of k -Nearest Neighbor Vehicle Platoons
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