© 2014 Elsevier Ltd. All rights reserved. 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 l2string stability of the system with respect to bounded disturbances.
Knorn, S., Donaire, A., Agüero, J. C., & Middleton, R. H. (2014). Passivity-based control for multi-vehicle systems subject to string constraints. Automatica, 3224-3230. https://doi.org/10.1016/j.automatica.2014.10.038