A Simplified Framework for String Stability Analysis in AHS 1

Yanakiev, Diana; Kanellakopoulos, I.

doi:10.1016/s1474-6670(17)58959-4

Cited by 75 publications

(56 citation statements)

References 3 publications

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“…A local controller stabilizes the formation dynamics in (8) iff it simultaneously stabilizes the set of systems (11) where are the eigenvalues of .…”

Section: Theoremmentioning

confidence: 99%

“…The "leader-follower" approach has the advantage of simplicity in that a reference trajectory is clearly defined by the leader, and in that internal stability of the formation is implied by stablity of the individual vehicles' control laws. However, leader-follower architectures are known to have poor disturbance rejection properties (see, e.g., [11]). Additionally, a leader-follower architecture depends heavily on the leader for achieving its goal, and over-reliance on a single vehicle in the formation may be undesirable, especially in adversarial environments.…”

mentioning

confidence: 99%

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Information Flow and Cooperative Control of Vehicle Formations

Fax

Murray

2004

IEEE Trans. Automat. Contr.

4,023

1,571

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Abstract-We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove useful in modeling the communication network and relating its topology to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that decomposes formation stability into two components: Stability of the is achieved information flow for the given graph and stability of an individual vehicle for the given controller. The information flow can thus be rendered highly robust to changes in the graph, enabling tight formation control despite limitations in intervehicle communication capability.

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“…A local controller stabilizes the formation dynamics in (8) iff it simultaneously stabilizes the set of systems (11) where are the eigenvalues of .…”

Section: Theoremmentioning

confidence: 99%

mentioning

confidence: 99%

Information Flow and Cooperative Control of Vehicle Formations

Fax

Murray

2004

IEEE Trans. Automat. Contr.

4,023

1,571

View full text Add to dashboard Cite

show abstract

“…Another related concept for a formation of multiple mobile robots is the concept of string stability, which has been addressed by several researchers in the context of automated highway systems (AHS) [8], [9]. We realize the importance of dynamic analysis, such as is done in understanding string stability.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of formations of nonholonomic mobile robots

Desai

Ostrowski

Kumar

2001

IEEE Trans. Robot. Automat.

1,027

511

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This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between any two formations. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Modeling and Control of Formations of Nonholonomic Mobile RobotsJaydev P. Desai, James P. Ostrowski, and Vijay KumarAbstract-This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory. We model the team as a triple, ( ), consisting of a group element that describes the gross position of the lead robot, a set of shape variables that describe the relative positions of robots, and a control graph that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between any two formations.

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“…This point is proven in [39]. This point clearly represents that instead of the purely imaginary roots of the infinite dimensional system (17), one can study the purely imaginary roots of the finite dimensional system , CE s k x h. This is considerably easier for determining.…”

Section: S S S S S S S S S S S S S S S S S S Vmentioning

confidence: 91%

“…For a vehicle string, a string-stability definition is widely used [39][40] and it is described as follows:…”

Section: String Stabilitymentioning

confidence: 99%