2016
DOI: 10.48550/arxiv.1603.05498
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String Stability towards Leader thanks to Asymmetric Bidirectional Controller

Arash Farnam,
Alain Sarlette

Abstract: This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g. acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle is coupled solely to its immediate predecessor and to its immediate follower with different gains in these two directions. We show that in this setting, unlike with unidirectional or symmetric bidirectional controllers, string stability can be recovered when disturbances act… Show more

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