Related papers: Gain Scheduling LPV Control Scheme for the Autonom…
We consider the static output feedback control for Linear Quadratic Regulator problems with structured constraints under the assumption that system parameters are unknown. To solve the problem in the model free setting, we propose the…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
In this paper, we present the application of successive convexification methods to autonomous driving problems borrowed from recent aerospace literature. We formulate two optimization problems within the successive convexification…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
As autonomous vehicles (AVs) become more common on public roads, their interaction with human-driven vehicles (HVs) in mixed traffic is inevitable. This requires new control strategies for AVs to handle the unpredictable nature of HVs. This…
The Linear Parameter-Varying (LPV) framework has long been used to guarantee performance and stability requirements of nonlinear (NL) systems mainly through the $\mathcal{L}_2$-gain concept. However, recent research has pointed out that…
This manuscript aims to develop and describe gain scheduling control concept for a gas turbine engine which drives a variable pitch propeller. An architecture for gain-scheduling control is developed that controls the turboshaft engine for…
This work investigates traffic control via controlled connected and automated vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenecks impacting the…
This work develops a control framework for the autonomous overtaking of connected and automated vehicles (CAVs) in a mixed traffic environment, where the overtaken vehicle is an unconnected but interactive human-driven vehicle. The proposed…
This paper investigates an output tracking problem for the vapor compression cycle in automotive Air Conditioning (A/C) systems using Linear Parameter Varying (LPV) techniques. Stemming from a recently developed first-principle A/C model,…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
Linear parameter-varying (LPV) systems with uncertainty in time-varying delays are subject to performance degradation and instability. In this line, we investigate the stability of such systems invoking an input-output stability approach.…
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…