TY - GEN
T1 - Cyclic interconnection in 1-D vehicle formation control
AU - Peters, Andres A.
AU - Mason, Oliver
AU - Middleton, Richard H.
N1 - Publisher Copyright:
© 2014 EUCA.
PY - 2014/7/22
Y1 - 2014/7/22
N2 - In this paper, we study a formation control scheme for a 1D string of vehicles. Each member tracks the movement of its immediate predecessor but also the first vehicle tracks the position of the last member of the string. We discuss conditions for the stability of the full interconnected system and show that if a constant inter-vehicle spacing policy is used, the interconnection becomes unstable after the string size surpasses a critical value. Moreover, we show that if constant time headway is used in the spacing policy, stability can be recovered for any string size. String stability is also achieved as a consequence.
AB - In this paper, we study a formation control scheme for a 1D string of vehicles. Each member tracks the movement of its immediate predecessor but also the first vehicle tracks the position of the last member of the string. We discuss conditions for the stability of the full interconnected system and show that if a constant inter-vehicle spacing policy is used, the interconnection becomes unstable after the string size surpasses a critical value. Moreover, we show that if constant time headway is used in the spacing policy, stability can be recovered for any string size. String stability is also achieved as a consequence.
UR - http://www.scopus.com/inward/record.url?scp=84911478198&partnerID=8YFLogxK
U2 - 10.1109/ECC.2014.6862586
DO - 10.1109/ECC.2014.6862586
M3 - Conference contribution
AN - SCOPUS:84911478198
T3 - 2014 European Control Conference, ECC 2014
SP - 1548
EP - 1553
BT - 2014 European Control Conference, ECC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th European Control Conference, ECC 2014
Y2 - 24 June 2014 through 27 June 2014
ER -