Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 55, Issue 7, Pages 1519-1530Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2010.2042318
Keywords
Bullwhip effect; distributed systems; formation control; performance limitations; string stability
Funding
- Science Foundation of Ireland SFI [07/RPR/I177]
- ARC Centre of Excellence for Complex Dynamic Systems Control
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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.
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