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.
@article{arxiv.1504.06075,
title = {Transients of platoons with asymmetric and different Laplacians},
author = {Ivo Herman and Dan Martinec and J. J. P. Veerman},
journal= {arXiv preprint arXiv:1504.06075},
year = {2016}
}