Effects of nearest neighbors interactions on control of nonlinear vehicular platooning

The paper introduces a novel platooning model for vehicles subject to nonlinear drag. A linear parametric controller, taking into account both the actual position and the relative displacement with respect to neighbors, is applied to each vehicle and, then, its effects are investigated via a semi-analytical approach based on partial differential equations. When the control law on the interactions with the neighbors is asymmetric, the platoon can exhibit undesired oscillations around the desired formation. Numerical simulations confirm the predicted results.