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Necessary Conditions For Stability Of Vehicle Formations, Pablo Enrique Baldivieso Blanco

Dissertations and Theses

Necessary conditions for stability of coupled autonomous vehicles in R are established in this thesis. The focus is on linear arrays with decentralized vehicles, where each vehicle interacts with only a few of its neighbors. Decentralized means that there is no central authority governing the motion. Instead, each vehicle registers only velocity and position relative to itself and bases its acceleration only on those data. Explicit expressions are obtained for necessary conditions for asymptotic stability in the cases that a system consists of a periodic arrangement of two or three different types of vehicles, i.e. configurations as follows: ...2-1-2-1 or …