Decentralized, cooperative control laws couple separate vehicles in order to achieve a common objective.
Using Frequency-Response Functions to Investigate String Stability of Cooperative Control Laws
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Decentralized, cooperative control laws couple separate vehicles in order to achieve a common objective. In this paper, the development of cooperative control laws for multivehicle formations is presented. The closed-loop equations of motion for the multivehicle system are shown to be analogous to structural systems, and the stability and performance of the system can be investigated using frequency-response functions. The main contribution of the paper is an alternate approach to evaluate string stability of cooperative control laws using a frequency-response framework. Simulation results for four different cooperative-control forms are presented, and the string-stability results are evaluated and discussed.