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

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.

Año de publicación:

2014

Keywords:

• Hamiltonian systems
• String stability
• Multi-vehicle systems

Fuente:

scopus