Passivity-based control for multi-vehicle systems subject to string constraints
2014 (English)In: Automatica, ISSN 0005-1098, Vol. 50, no 12, 3224-3230 p.Article in journal (Refereed) Published
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 12 string stability of the system with respect to bounded disturbances.
Place, publisher, year, edition, pages
2014. Vol. 50, no 12, 3224-3230 p.
Engineering and Technology
Research subject Electrical Engineering with specialization in Signal Processing
IdentifiersURN: urn:nbn:se:uu:diva-228923DOI: 10.1016/j.automatica.2014.10.038ISI: 000347760100028OAI: oai:DiVA.org:uu-228923DiVA: diva2:735137