Stability and performance analysis with double-graph model of vehicle formations

Zhipu Jin and Richard M. Murray
2003 American Control Conference

In this paper, we treat the string stability as a kind of performance of a linear multi-vehicle system with acyclic
formation structures. By using a double-graph model, we can describe information flows and formulate the string stability. This paper provides a systematic way to design the local controller and the system control strategy with the performance constrains. We also present the connection failure tolerance problem and give some essential conclusions.

Conference Paper (PDF, 6 pages, 181K)
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Richard Murray (murray@cds.