Related papers: String Stability towards Leader thanks to Asymmetr…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability,…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
We study the stability of coupled impedance passive regular linear systems under power-preserving interconnections. We present new conditions for strong, exponential, and non-uniform stability of the closed-loop system. We apply the…
Groups of aircraft have the potential to save significant amounts of energy by flying in formations; all but the leading aircraft can benefit from the upwash of the wakes of preceding aircraft. A potential obstacle as the number of aircraft…
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
We examine synchronization of identical chaotic systems coupled in a drive/response manner. A rigorous criterion is presented which, if satisfied, guarantees that synchronization to the driving trajectory is linearly stable to…
Network systems and their control are highly important and appear in a variety of applications, including vehicle platooning and formation con- trol. Especially vehicle platoons are highly investigated and an interesting problem that arises…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
In this paper, we study the internal stability and string stability of a vehicle platoon under the constant time headway spacing (CTHS) policy and the multiple-predecessor-following (MPF) vehicle-to-vehicle information flow topology. More…
We are motivated by the problem of control for a non-homogeneous elastic string with memory. We reduce the problem of controllability to a non-standard moment problem. The solution of the latter problem is based on an auxiliary Riesz basis…
Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits depend on string stability, which dictates how disturbances…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…