TY - GEN
T1 - String stability of a leader following formation control with dynamic weights
AU - Peters, Andrés A.
N1 - Funding Information:
This work was supported by the grant FONDECYT 3160738, CONICYT Chile. The author would also like to thank the support of the Advanced Center for Electrical and Electronic Engineering, AC3E, Basal Project FB0008.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/9/19
Y1 - 2017/9/19
N2 - In this work, we study the string stability properties of a leader following formation control architecture that uses non homogeneous weights for the leader and predecessor vehicle states. The architecture was presented recently [1] and it was shown to achieve constant inter-vehicle spacings (with no transient) for almost every vehicle pair when there are no disturbances at the followers. We expand the analysis of this interconnection by obtaining a condition on the design parameters that ensures the string stability of the interconnection to disturbances at any follower. Numerical simulations illustrate our results.
AB - In this work, we study the string stability properties of a leader following formation control architecture that uses non homogeneous weights for the leader and predecessor vehicle states. The architecture was presented recently [1] and it was shown to achieve constant inter-vehicle spacings (with no transient) for almost every vehicle pair when there are no disturbances at the followers. We expand the analysis of this interconnection by obtaining a condition on the design parameters that ensures the string stability of the interconnection to disturbances at any follower. Numerical simulations illustrate our results.
UR - http://www.scopus.com/inward/record.url?scp=85035356333&partnerID=8YFLogxK
U2 - 10.1109/MMAR.2017.8046841
DO - 10.1109/MMAR.2017.8046841
M3 - Conference contribution
AN - SCOPUS:85035356333
T3 - 2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
SP - 290
EP - 294
BT - 2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
Y2 - 28 August 2017 through 31 August 2017
ER -