Passivity-based control for multi-vehicle systems subject to string constraints

Steffi Knorn, Alejandro Donaire, Juan C. Agüero, Richard H. Middleton

Research output: Contribution to journalArticle

38 Citations (Scopus)


© 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.
Original languageEnglish
Pages (from-to)3224-3230
Number of pages7
Publication statusPublished - 1 Jan 2014
Externally publishedYes

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