Related papers: On $\mathcal{L}_{\infty}$ string stability of nonl…
Understanding the relationship between symmetry breaking, system properties, and instabilities has been a problem of longstanding scientific interest. Symmetry-breaking instabilities underlie the formation of important patterns in driven…
We develop a predictor-feedback cooperative adaptive cruise control (CACC) design relying on a multiple-predecessor-following (MPF) topology-based nominal delay-free CACC law. We consider vehicular platoons with heterogeneous vehicles,…
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…
The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stability is proved by Lyapunov functions and Input-to-State…
Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for…
In this paper, the problem of partial stabilization of nonlinear systems along a given trajectory is considered. This problem is treated within the framework of stability of a family of sets. Sufficient conditions for the asymptotic…
This paper formulates an optimal control framework for computing cruise airspeeds in predecessor-follower platoons of all-electric aircraft that balance operational cost and airspace complexity. To quantify controller workload and…
As connected and autonomous vehicles become more widespread, platooning has emerged as a key strategy to improve road capacity, reduce fuel consumption, and enhance traffic flow. However, the benefits of platoons strongly depend on their…
Stop-and-go waves in road traffic are complex collective phenomena with significant implications for traffic engineering, safety and the environment. Despite decades of research, understanding and controlling these dynamics remains…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
We consider output trajectory tracking for a class of uncertain nonlinear systems whose internal dynamics may be modelled by infinite-dimensional systems which are bounded-input, bounded-output stable. We describe under which conditions…
In this paper we extend the analysis of the stability of an homogeneous black string in the presence of a negative cosmological constant with minimally coupled scalar fields. We recall the linear stability of this solutions under generic…
We establish an exponential stabilization result for linear port-Hamiltonian systems of first order with quite general, not necessarily continuous, energy densities. In fact, we have only to require the energy density of the system to be of…
This work deals with the stability analysis of nonlinear sampled-data systems under nonuniform sampling. It establishes novel relationships between the stability property of the exact discrete-time model for a given sequence of (aperiodic)…
The presence of two compatible Hamiltonian structures is known to be one of the main, and the most natural, mechanisms of integrability. For every pair of Hamiltonian structures, there are associated conservation laws (first integrals).…
We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
Achieving safety is a critical aspect of attaining autonomy in a platoon of autonomous vehicles. In this paper, we propose a distributionally robust risk framework to investigate cascading failures in platoons. To examine the impact of…
Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper we develop novel tools that can be used within this framework and…
While the asymptotic stability of positive linear systems in the presence of bounded time delays has been thoroughly investigated, the theory for nonlinear positive systems is considerably less well-developed. This paper presents a set of…