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String stability experimentation using a low-cost mobile robotic testbed

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conference contribution
posted on 2022-04-06, 14:53 authored by Michael Johnson, Martin J. Hayes
This paper presents a practical implementation of string stability research in autonomous convoy formation that is suitable for use in a typical undergraduate project lab. The research presents a benchmark test problem that is challenging without representing a prohibitively expensive undertaking. The testbed development that is presented facilitates convoy formation, the implementation of different control laws and provides a good motivational example for a large range of complementary research themes. A case study that illustrates a loop shaping proportional plus integral control scheme is described. The example exhibits good stability and performance results that allows students to determine hard constraints on limits of convoy performance.

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History

Publication

30th Irish Signals and Systems Conference (ISSC);pp.1-6

Publisher

IEEE Computer Society

Note

peer-reviewed

Other Funding information

IRC

Rights

© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Language

English

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