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Publication

String stability experimentation using a low-cost mobile robotic testbed

Date
2019
Abstract
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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Description
peer-reviewed
Publisher
IEEE Computer Society
Citation
30th Irish Signals and Systems Conference (ISSC);pp.1-6
Collections
Electronic & Computer Engineering
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Johnson_2019_String.pdf
Adobe PDF, 2.95 MB
Keywords
string stability research
ULRR Identifiers
https://researchrepository.ul.ie/handle/10344/11190
 https://doi.org/10.34961/4002
Funding code
Funding Information
Irish Research Council (IRC)
Sustainable Development Goals
External Link
Type
Meetings and Proceedings
Rights
https://creativecommons.org/licenses/by-nc-sa/1.0/
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