String stability of a leader following formation control with dynamic weights

Andrés A. Peters

doi:10.1109/MMAR.2017.8046841

String stability of a leader following formation control with dynamic weights

Andrés A. Peters

Faculty of Engineering and Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	290-294
Number of pages	5
ISBN (Electronic)	9781538624029
DOIs	https://doi.org/10.1109/MMAR.2017.8046841
State	Published - 19 Sep 2017
Event	22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017 - Miedzyzdroje, Poland Duration: 28 Aug 2017 → 31 Aug 2017

Publication series

Name	2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017

Conference

Conference	22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
Country/Territory	Poland
City	Miedzyzdroje
Period	28/08/17 → 31/08/17

Access to Document

10.1109/MMAR.2017.8046841

Cite this

Peters, A. A. (2017). String stability of a leader following formation control with dynamic weights. In 2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017 (pp. 290-294). Article 8046841 (2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MMAR.2017.8046841

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title = "String stability of a leader following formation control with dynamic weights",

abstract = "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.",

author = "Peters, {Andr{\'e}s A.}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017 ; Conference date: 28-08-2017 Through 31-08-2017",

year = "2017",

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doi = "10.1109/MMAR.2017.8046841",

language = "English",

series = "2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017",

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Peters, AA 2017, String stability of a leader following formation control with dynamic weights. in 2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017., 8046841, 2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017, Institute of Electrical and Electronics Engineers Inc., pp. 290-294, 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017, Miedzyzdroje, Poland, 28/08/17. https://doi.org/10.1109/MMAR.2017.8046841

String stability of a leader following formation control with dynamic weights. / Peters, Andrés A.
2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 290-294 8046841 (2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Peters AA. String stability of a leader following formation control with dynamic weights. In 2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 290-294. 8046841. (2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017). doi: 10.1109/MMAR.2017.8046841

String stability of a leader following formation control with dynamic weights

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