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

Authors

Steffi Knorn, Alejandro Donaire, Juan C. Agüero, Richard H. Middleton

Abstract

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 l 2 string stability of the system with respect to bounded disturbances.

Keywords

Hamiltonian systems; String stability; Multi-vehicle systems

Citation

• Journal: Automatica
• Year: 2014
• Volume: 50
• Issue: 12
• Pages: 3224–3230
• Publisher: Elsevier BV
• DOI: 10.1016/j.automatica.2014.10.038

BibTeX

@article{Knorn_2014,
  title={{Passivity-based control for multi-vehicle systems subject to string constraints}},
  volume={50},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2014.10.038},
  number={12},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Knorn, Steffi and Donaire, Alejandro and Agüero, Juan C. and Middleton, Richard H.},
  year={2014},
  pages={3224--3230}
}

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