TY - GEN
T1 - String stability of a leader following formation control with dynamic weights
AU - Peters, Andrés A.
N1 - 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 -