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• W2514907103 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." @default.
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• W2514907103 date "2016-07-06" @default.
• W2514907103 modified "2023-09-22" @default.
• W2514907103 title "A Graph Theoretic Approach to the Robustness of k-Nearest Neighbor Vehicle Platoons" @default.
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