String stability experimentation using a low-cost mobile robotic testbed

Michael Johnson; Martin J. Hayes

doi:10.1109/ISSC.2019.8904961

String stability experimentation using a low-cost mobile robotic testbed

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	30th Irish Signals and Systems Conference, ISSC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728128009
DOIs	https://doi.org/10.1109/ISSC.2019.8904961
Publication status	Published - Jun 2019
Event	30th Irish Signals and Systems Conference, ISSC 2019 - Maynooth, Ireland Duration: 17 Jun 2019 → 18 Jun 2019

Publication series

Name	30th Irish Signals and Systems Conference, ISSC 2019

Conference

Conference	30th Irish Signals and Systems Conference, ISSC 2019
Country/Territory	Ireland
City	Maynooth
Period	17/06/19 → 18/06/19

Access to Document

10.1109/ISSC.2019.8904961

Cite this

@inproceedings{3978e4e25866409dbb3c7da71d2a55d8,

title = "String stability experimentation using a low-cost mobile robotic testbed",

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.",

author = "Michael Johnson and Hayes, {Martin J.}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 30th Irish Signals and Systems Conference, ISSC 2019 ; Conference date: 17-06-2019 Through 18-06-2019",

year = "2019",

month = jun,

doi = "10.1109/ISSC.2019.8904961",

language = "English",

series = "30th Irish Signals and Systems Conference, ISSC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "30th Irish Signals and Systems Conference, ISSC 2019",

}

Johnson, M & Hayes, MJ 2019, String stability experimentation using a low-cost mobile robotic testbed. in 30th Irish Signals and Systems Conference, ISSC 2019., 8904961, 30th Irish Signals and Systems Conference, ISSC 2019, Institute of Electrical and Electronics Engineers Inc., 30th Irish Signals and Systems Conference, ISSC 2019, Maynooth, Ireland, 17/06/19. https://doi.org/10.1109/ISSC.2019.8904961

String stability experimentation using a low-cost mobile robotic testbed. / Johnson, Michael ; Hayes, Martin J.
30th Irish Signals and Systems Conference, ISSC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8904961 (30th Irish Signals and Systems Conference, ISSC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - String stability experimentation using a low-cost mobile robotic testbed

AU - Johnson, Michael

AU - Hayes, Martin J.

PY - 2019/6

Y1 - 2019/6

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85075927073&partnerID=8YFLogxK

U2 - 10.1109/ISSC.2019.8904961

DO - 10.1109/ISSC.2019.8904961

M3 - Conference contribution

AN - SCOPUS:85075927073

T3 - 30th Irish Signals and Systems Conference, ISSC 2019

BT - 30th Irish Signals and Systems Conference, ISSC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 30th Irish Signals and Systems Conference, ISSC 2019

Y2 - 17 June 2019 through 18 June 2019

ER -

String stability experimentation using a low-cost mobile robotic testbed

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this