NDLI: Error Amplification and Disturbance Propagation in Vehicle Strings with Decentralized Linear Control

Content Provider	IEEE Xplore Digital Library
Author	Barooah, P. Hespanha, J.P.
Copyright Year	2005
Description	Author affiliation: Dept. of Electrical and Computer Eng., Univ. of California, Santa Barbara, CA 93106 Email: pbarooah@ece.ucsb.edu (Barooah, P.)
Abstract	We consider the problem of controlling a string of vehicles moving in one dimension so that they all follow a lead vehicle with a constant spacing between successive vehicles. We examine the symmetric bidirectional control architecture, where the control action on a vehicle depends equally on the spacing errors with respect to its adjacent vehicles. Performance of this decentralized scheme in terms of spacing error amplification and disturbance propagation is investigated. The results established in this paper show that a symmetric bidirectional architecture with a linear controller suffers from fundamental limitations on closed loop performance that cannot be mitigated by appropriate control design.
Starting Page	4964
Ending Page	4969
File Size	203732
Page Count	6
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1582948
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Error correction Bidirectional control Computer architecture Automatic control Stability Vehicle dynamics Vehicle driving Size control Computer errors Control design
Content Type	Text
Resource Type	Article

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Error Amplification and Disturbance Propagation in Vehicle Strings with Decentralized Linear Control