Cyclic interconnection in 1-D vehicle formation control

Title: Cyclic interconnection in 1-D vehicle formation control
Creator: Peters, André A.; Mason, Oliver; Middleton, Richard H.
Relation: 2014 European Control Conference (ECC). Proceedings from 2014 European Control Conference (Strasbourg, France 24-27 June, 2014) p. 1548-1553
Publisher Link: http://dx.doi.org/10.1109/ECC.2014.6862586
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2014
Description: In this paper, we study a formation control scheme for a 1D string of vehicles. Each member tracks the movement of its immediate predecessor but also the first vehicle tracks the position of the last member of the string. We discuss conditions for the stability of the full interconnected system and show that if a constant inter-vehicle spacing policy is used, the interconnection becomes unstable after the string size surpasses a critical value. Moreover, we show that if constant time headway is used in the spacing policy, stability can be recovered for any string size. String stability is also achieved as a consequence.
Subject: interconnected systems; mobile robots; multi-robots systems; stability; numerical stability
Identifier: http://hdl.handle.net/1959.13/1067808
Identifier: uon:18485
Identifier: ISBN:9783952426913
Language: eng
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