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Using Frequency-Response Functions to Investigate String Stability of Cooperative Control Laws
September 2009
Lesley A. Weitz, The MITRE Corporation
John E. Hurtado, Texas A&M University
ABSTRACT
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.
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