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
2017
Aufsatz (Zeitschrift)
Englisch
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