Bounded stability and eventual string stability of a large platoon of vehicles using non-identical controllers
Bibliographic record
Abstract
In this paper the notions of eventual string stability and bounded stability are introduced, and applied to the "constant spacing distance" control problem (in contrast with the "headway control" problem) of a platoon of identical vehicles. In particular, it is assumed that vehicles in the platoon, are controlled by decentralized non-identical controllers, and that it is desired to achieve asymptotic error regulation in the spacing of the vehicles, independent of any constant velocity which the lead vehicle may take, such that the control signals and states of the vehicles in the platoon remain bounded, and such that there exists vehicle N_ by which the system is string stable for all vehicles n > N_ + 1. These properties of a system are called "bounded stability" and "eventual string stability" respectively. A new decentralized controller is proposed which has the property that if the decentralized controller parameters are tuned appropriately, that all the inputs and states of the platoon will remain bounded with respect to the number of vehicles in the platoon, while ensuring asymptotic spacing regulation and eventual string stability of the spacing distance. A number of examples are included which illustrate the type of results which can be obtained for the case of a platoon of size of 1000 vehicles.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".