Title :
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
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;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243404
