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String Instability in Classes of Linear Time Invariant Formation Control With Limited Communication Range

Middleton, Richard H. and Braslavsky, Julio 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;
Subjects: Science & Engineering > Hamilton Institute
Item ID: 2228
Identification Number: DOI: 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
URI:

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