- Title
- String instability in classes of linear time invariant formation control with limited communication range
- Creator
- Middleton, Richard H.; Braslavsky, Julio H.
- Relation
- IEEE Transactions on Automatic Control Vol. 55, Issue 7, p. 1519-1530
- Publisher Link
- http://dx.doi.org/10.1109/TAC.2010.2042318
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2010
- Description
- This paper gives sufficient conditions for string instability in an array of linear time-invariant autonomous vehicles with communication constraints. The vehicles are controlled autonomously and are subject to a rigid or semi-rigid formation policy. The individual controllers are assumed to have a limited range of forward and backward communication with other vehicles. Sufficient conditions are given that imply a lower bound on the peak of the frequency response magnitude of the transfer function mapping a disturbance to the leading vehicle to a vehicle in the chain. This lower bound quantifies the effect of spacing separation policy, intervehicle communication policy, and vehicle settling response performance. These results extend earlier works to give a unified treatment of heterogeneous, non-nearest neighbor communication and semi-rigid one-dimensional formation control.
- Subject
- bullwhip effect; distributed systems; formation control; performance limitations; string stability
- Identifier
- http://hdl.handle.net/1959.13/928594
- Identifier
- uon:10387
- Identifier
- ISSN:0018-9286
- Rights
- Copyright © 2010 IEEE. Reprinted from IEEE Transactions on Automatic Control. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
- Language
- eng
- Full Text
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