Stability and performance analysis with double-graph model of vehicle formations

Author

Jin, Zhipu ; Murray, Richard M.

Author_Institution

Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

3

fYear

2003

fDate

4-6 June 2003

Firstpage

2223

Abstract

In this paper, we treat the string stability as a kind of performance of a linear multi-vehicle system with acyclic formation structures. By using a double-graph model, we can describe information flows and formulate the string stability. This paper provides a systematic way to design the local controller and the system control strategy with the performance constrains. We also present the connection failure tolerance problem and give some essential conclusions.

Keywords

directed graphs; fault tolerance; interconnected systems; stability; vehicles; acyclic formation structures; connection failure tolerance; digraphs; double graph model; failure tolerance problem; information flows; linear multiple vehicle system; local controller design; performance analysis; stability analysis; string stability; system control strategy; vehicle formations; Automated highways; Automotive engineering; Control systems; Electronic mail; Graph theory; Laplace equations; Performance analysis; Remotely operated vehicles; Stability analysis; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1243404

Filename

1243404