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A Graph Theoretic Approach to the Robustness of k-Nearest Neighbor Vehicle Platoons
- Publication Year :
- 2016
-
Abstract
- We consider a graph theoretic approach to the performance and robustness of a platoon of vehicles, where 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. Our 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.<br />Comment: 16 pages, 5 figures
- Subjects :
- Mathematics - Optimization and Control
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.1607.01821
- Document Type :
- Working Paper