On the necessity of symmetric positional coupling for string stability

TitleOn the necessity of symmetric positional coupling for string stability
Publication TypeJournal Article
Year of PublicationIn Press
AuthorsMartinec, Dan, Ivo Herman, and Michael Šebek
JournalIEEE Transactions on Control of Network Systems
VolumePP
Issue99
Page1-10
Abstract

We consider a distributed system with identical agents, constant-spacing policy and asymmetric bidirectional control, where the asymmetry is due to different controllers, which we describe by transfer functions. By applying the wave transfer function approach, it is shown that, if there are two integrators in the dynamics of agents, then the positional coupling must be symmetric, otherwise the system is string unstable. The main advantage of the transfer function approach is that it allows us to analyse the bidirectional control with an arbitrary complex asymmetry in the controllers, for instance, the control with symmetric positional but asymmetric velocity couplings.

DOI10.1109/TCNS.2016.2573739
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