String Stability towards Leader thanks to Asymmetric Bidirectional Controller

Arash Farnam 1 Alain Sarlette 2
2 QUANTIC - QUANTum Information Circuits
ENS Paris - École normale supérieure - Paris, UPMC - Université Pierre et Marie Curie - Paris 6, MINES ParisTech - École nationale supérieure des mines de Paris, Inria de Paris
Abstract : This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g. acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle is coupled solely to its immediate predecessor and to its immediate follower with different gains in these two directions. We show that in this setting, unlike with unidirectional or symmetric bidirectional controllers, string stability can be recovered when disturbances act only on a small (N-independent) set of leading vehicles. This improves existing results from the literature with this assumption. We also indicate that string stability with respect to arbitrarily distributed disturbances cannot be achieved with this controller.
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Communication dans un congrès
IFAC World congres 2017, Jul 2017, Toulouse, France. 2017, 〈10.1016/j.ifacol.2017.08.1673〉
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Contributeur : Alain Sarlette <>
Soumis le : mardi 14 novembre 2017 - 16:08:09
Dernière modification le : jeudi 16 novembre 2017 - 01:10:00

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Arash Farnam, Alain Sarlette. String Stability towards Leader thanks to Asymmetric Bidirectional Controller. IFAC World congres 2017, Jul 2017, Toulouse, France. 2017, 〈10.1016/j.ifacol.2017.08.1673〉. 〈hal-01634578〉

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