Passivity-based control for multi-vehicle systems subject to string constraints
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 additiona...
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| Published in | Automatica (Oxford) Vol. 50; no. 12; pp. 3224 - 3230 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
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Kidlington
Elsevier Ltd
01.12.2014
Elsevier |
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| 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 l2 string stability of the system with respect to bounded disturbances. |
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| AbstractList | 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. 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 string stability of the system with respect to bounded disturbances. 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 12 string stability of the system with respect to bounded disturbances. |
| Author | Agüero, Juan C. Knorn, Steffi Middleton, Richard H. Donaire, Alejandro |
| Author_xml | – sequence: 1 givenname: Steffi surname: Knorn fullname: Knorn, Steffi email: steffi.knorn@signal.uu.se organization: Uppsala University, Sweden – sequence: 2 givenname: Alejandro surname: Donaire fullname: Donaire, Alejandro email: alejandro.donaire@newcastle.edu.au organization: The University of Newcastle, Australia – sequence: 3 givenname: Juan C. surname: Agüero fullname: Agüero, Juan C. email: juan.aguero@newcastle.edu.au organization: The University of Newcastle, Australia – sequence: 4 givenname: Richard H. surname: Middleton fullname: Middleton, Richard H. email: richard.middleton@newcastle.edu.au organization: The University of Newcastle, Australia |
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| Cites_doi | 10.1016/j.automatica.2009.04.006 10.1109/TAC.2009.2026934 10.23919/ACC.1992.4792410 10.1109/AUCC.2013.6697281 10.1016/j.sysconle.2011.09.015 10.1080/00423119808969457 10.1109/TAC.2004.835586 10.1109/TAC.2008.925812 10.1109/25.260745 10.1109/ACC.2007.4283022 10.3166/ejc.10.432-450 10.1080/00423119408969077 10.1109/9.486636 10.1016/j.sysconle.2013.05.011 10.1109/87.865854 10.1109/25.740110 10.1109/CDC.2005.1582948 10.1109/TAC.1974.1100652 10.23919/ACC.2004.1383885 |
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| Keywords | 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 |
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| SubjectTerms | 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 |
| Title | Passivity-based control for multi-vehicle systems subject to string constraints |
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