期刊
AUTOMATICA
卷 50, 期 12, 页码 3224-3230出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2014.10.038
关键词
Hamiltonian systems; String stability; Multi-vehicle systems
In this paper, we show how heterogeneous bidirectional vehicle strings can be modelled as port-Hamiltonian systems. Analysis of stability and string stability within this framework is straightforward and leads to a better understanding of the underlying problem. Nonlinear local control and additional integral action is introduced to design a suitable control law guaranteeing 12 string stability of the system with respect to bounded disturbances. (C) 2014 Elsevier Ltd. All rights reserved.
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