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    Cyclic interconnection for formation control of 1-D vehicle strings

    Peters, Andrés A. and Middleton, Richard H. and Mason, Oliver (2016) Cyclic interconnection for formation control of 1-D vehicle strings. European Journal of Control, 27. pp. 36-44. ISSN 0947-3580

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    In this paper, we study a formation control scheme for a 1-D string of vehicles. Each member tracks the movement of its immediate predecessor but also the first vehicle tracks the position of the last member of the string. We discuss conditions for the stability of the full interconnected system and show that if a constant spacing policy is used, the stability of the system is lost after the string size exceeds a certain number depending on the model parameters (vehicles and controllers). Additionally, we study the use of a constant time headway spacing policy. If the associated time headway parameter is greater than a critical value, the interconnected system is stable and string stable for any string size. Finally, we show that if an independent leader vehicle is added to the formation and every follower has access to this leader position, the cyclic formation with a constant spacing policy can be made stable and string stable by appropriately selecting a design parameter.

    Item Type: Article
    Keywords: Cyclic formation control; Interconnected systems; Linear Systems; Stability; String stability;
    Academic Unit: Faculty of Science and Engineering > Mathematics and Statistics
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 10020
    Identification Number:
    Depositing User: Oliver Mason
    Date Deposited: 27 Sep 2018 15:42
    Journal or Publication Title: European Journal of Control
    Publisher: Elsevier
    Refereed: Yes
    Funders: Higher Education Authority (HEA), TelecommunicationsGraduateInitiative(TGI), Ireland's EU Structural Funds Programme 2011–2015
    Use Licence: This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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