An Approach to Determining Worst Case Platoon Behavior

Abstract

SUMMARY This paper presents a method with which one can evaluate alternative platooning control strategies with respect to worst case behavior. The motivation is to provide platoon control designers with an objective means of evaluating robustness in the face of system uncertainties. The approach can be viewed as an extension of optimal control procedures and is applicable to complex, nonlinear systems. An arbitrary number of uncertain parameters, unmodeled components and inputs are allowed. The end result is a lower bound for the worst case platoon performance.