4.6 Article

Cooperative Startup Control for Heterogeneous Vehicle Platoons: A Finite-Time Output Tracking-Based Approach

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Summary: This paper investigates the cooperative control of a platoon of heterogeneous connected vehicles with directed acyclic interactions, utilizing the internal model principle and exploiting lower-triangular structures. The tracking ability of followers and stability region of feedback gains are analyzed, and a synthesis method based on the solution to an algebraic Riccati equation is proposed. Numerical experiments validate the effectiveness of the results.

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