Middleton, Richard H. and Braslavsky, J.H. (2010) String Instability in Classes of Linear Time Invariant Formation Control With Limited Communication Range. IEEE Transactions on Automatic Control, 55 (7). pp. 1519-1530. ISSN 0018-9286

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Abstract

This paper gives sufficient conditions for string instability in an array of linear time-invariant autonomous vehicles with communication constraints. The vehicles are controlled autonomously and are subject to a rigid or semi-rigid formation policy. The individual controllers are assumed to have a limited range of forward and backward communication with other vehicles. Sufficient conditions are given that imply a lower bound on the peak of the frequency response magnitude of the transfer function mapping a disturbance to the leading vehicle to a vehicle in the chain. This lower bound quantifies the effect of spacing separation policy, intervehicle communication policy, and vehicle settling response performance. These results extend earlier works to give a unified treatment of heterogeneous, non-nearest neighbor communication and semi-rigid one-dimensional formation control.

Item Type:	Article
Additional Information:	This work was supported by the Science Foundation of Ireland SFI 07/RPR/I177, and the ARC Centre of Excellence for Complex Dynamic Systems & Control.
Keywords:	Bullwhip effect; distributed systems; formation control; performance limitations; string stability;
Academic Unit:	Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	2228
Identification Number:	https://doi.org/10.1109/TAC.2010.2042318
Depositing User:	Professor Rick Middleton
Date Deposited:	03 Nov 2010 12:33
Journal or Publication Title:	IEEE Transactions on Automatic Control
Publisher:	IEEE
Refereed:	Yes
Funders:	Science Foundation of Ireland SFI 07/RPR/I177, ARC Centre of Excellence for Complex Dynamic Systems & Control
URI:	http://ieeexplore.ieee.org/Xplore/dynhom...
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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