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

• Published in: Automatica (Oxford) Vol. 50; no. 12; pp. 3224 - 3230
• Main Authors: Knorn, Steffi, Donaire, Alejandro, Agüero, Juan C., Middleton, Richard H.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.12.2014; Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control systems; Control theory. Systems; Design engineering; Disturbances; Electrical Engineering with specialization in Signal Processing; Elektroteknik med inriktning mot signalbehandling; Exact sciences and technology; Ground, air and sea transportation, marine construction; Hamiltonian systems; Integrals; Law; Modelling and identification; Multi-vehicle systems; Nonlinearity; Road transportation and traffic; Stability; String stability; Strings; Vehicles; Hamiltonian systems; String stability; Multi-vehicle systems; Stability; Moving robot; Constraint; Non linear control; Control synthesis; L2 approximation; String; Passive system; Port-Hamiltonian system; Integral control; Vehicle platoon; Hamiltonian mechanics; Hamiltonian system; Analytical mechanics; Formation
• ISSN: 0005-1098; 1873-2836; 1873-2836
• DOI: 10.1016/j.automatica.2014.10.038

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.