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Passivity-based control for multi-vehicle systems subject to string constraints
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
University of Newcastle, Australien.
University of Newcastle, Australien.
University of Newcastle, Australien.
2014 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 50, no 12, 3224-3230 p.Article in journal (Refereed) Published
Abstract [en]

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.
National Category
Engineering and Technology
Research subject
Electrical Engineering with specialization in Signal Processing
Identifiers
URN: urn:nbn:se:uu:diva-228923DOI: 10.1016/j.automatica.2014.10.038ISI: 000347760100028OAI: oai:DiVA.org:uu-228923DiVA: diva2:735137
Available from: 2014-07-23 Created: 2014-07-23 Last updated: 2017-12-05Bibliographically approved

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Publisher's full texthttp://www.steffi-knorn.de/wp-uploads/knorn2014a.pdf

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Knorn, Steffi

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