Passivity-based control for multi-vehicle systems subject to string constraints

Title: Passivity-based control for multi-vehicle systems subject to string constraints
Creator: Knorn, Steffi; Donaire, Alejandro; Agüero, Juan C.; Middleton, Richard H.
Relation: Automatica Vol. 50, Issue 12, p. 3224-3230
Publisher Link: http://dx.doi.org/10.1016/j.automatica.2014.10.038
Publisher: Elsevier
Resource Type: journal article
Date: 2014
Description: In this paper, we show how heterogeneous bidirectional vehicle strings can be modelled as port-Hamiltonian systems. Analysis of stability and string stability within this framework is straightforward and leads to a better understanding of the underlying problem. Nonlinear local control and additional integral action is introduced to design a suitable control law guaranteeing l₂ string stability of the system with respect to bounded disturbances.
Subject: Hamiltonian systems; string stability; multi-vehicle systems
Identifier: http://hdl.handle.net/1959.13/1299157
Identifier: uon:19798
Identifier: ISSN:0005-1098
Language: eng
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