Transient Behaviour Analysis and Design for Platoons with Communication Delay

Abstract

A novel approximation-based dominant eigenvalue computation and pole placement algorithm for platoons with communication delay is presented in this paper. The proposed approximation method is based on a smallness inequality, which the communication delay and the control system gains have to satisfy. The proposed approximation method creates a system of ordinary differential equation which has the same degree as the system of delay differential equation model and has the same eigenvalues as the dominant eigenvalues of the original system, with a given precision. A control design approach is proposed for platoons with communication delay using the obtained approximation model, which ensures the stability of the controlled platoon with prescribed dynamics. The proposed algorithms are validated with simulations considering a platoon of small size, mobile robots.