This thesis studies vehicle platooning and local electric networks (microgrids), examples of interconnected systems working together towards a shared goal. The objective of the thesis is to address "string instability", which is when disturbances get bigger as they move from one system to the next. The thesis looks at ways to design controllers that prevent string instability while providing insight into the design process and proposes methods that leverage the relationship between the energy of a system and that of its neighbours to ensure "string stability" of an interconnected system.
This paper presents string stable controllers with disturbance rejection properties for vehicle platoons. Through the addition of integral action and a coordinate change, sufficient smoothness conditions on the closed loop system are established that ensure the proposed controller is string stable in the presence of time-varying disturbances, and is able to reject constant disturbances. Error bounds from desired platoon configuration are also developed. Further, a suitable controller structure is introduced, and an example is provided that achieves the required smoothness conditions and is examined in simulation studies.
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