- Title
- Passivity-based control for multi-vehicle systems subject to string constraints
- Creator
- Knorn, Steffi; Donaire, Alejandro; Agüero, Juan C.; Middleton, Richard H.
- Relation
- Automatica Vol. 50, Issue 12, p. 3224-3230
- Publisher Link
- http://dx.doi.org/10.1016/j.automatica.2014.10.038
- Publisher
- Elsevier
- Resource Type
- journal article
- Date
- 2014
- Description
- 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.
- Subject
- Hamiltonian systems; string stability; multi-vehicle systems
- Identifier
- http://hdl.handle.net/1959.13/1299157
- Identifier
- uon:19798
- Identifier
- ISSN:0005-1098
- Language
- eng
- Reviewed
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