Document Type


Publication Date



Wave equation, Laplacian operators, Nearest neighbor analysis (Statistics), Mathematical optimization


We consider an asymmetric control of platoons of identical vehicles with nearest-neighbor interaction. Recent results show that if the vehicle uses different asymmetries for position and velocity errors, the platoon has a short transient and low overshoots. In this paper we investigate the properties of vehicles with friction. To achieve consensus, an integral part is added to the controller, making the vehicle a third-order system. We show that the parameters can be chosen so that the platoon behaves as a wave equation with different wave velocities. Simulations suggest that our system has a better performance than other nearest-neighbor scenarios. Moreover, an optimization-based procedure is used to find the controller properties.


This work is licensed under a Creative Commons Attribution 4.0 International License.

This is the author’s version of a work that was accepted for publication in Systems & Control Letters. Changes resulting from the publishing process, such as structural formatting, and other quality control mechanisms may not be reflected in this document. A definitive version was subsequently published 2016 by Elsevier.



Persistent Identifier