Related papers: About string stability of a vehicle chain with uni…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…
Zhong-Ping Jiang devoted a large part of his work to the study of the stability properties of interconnected systems. In this short paper we celebrate Zhong-Ping Jiang's 60th birthday by studying a special class of families of…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
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 presents a unified string-stability framework for leader-follower multi-agent systems governed by first-, second-, and m-th order consensus protocols operating under an r-predecessor directed communication topology. While string…
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…
This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles. A control strategy is proposed for communicating pairs of connected automated…
Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
In this paper, a nonlinear axially moving string with the Kelvin-Voigt damping is considered. It is proved that the string is stable, i.e., its transversal displacement converges to zero when the axial speed of the string is less than a…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
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…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
This paper studies robustness of MIMO control systems with parametric uncertainties, and establishes a lower dimensional robust stability criterion. For control systems with interval transfer matrices, we identify the minimal testing set…
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…
We study the stability of superconducting strings in a U(1)_{local} x U(1)_{global} model coupled via a gauge field interaction term to U(1) Abelian-Higgs strings. The effect of the interaction on current stability is numerically…
One cannot pull an open, curved string along itself. This fact is clearly reflected in the unwrapping motion of a string or chain as it is dragged around an object, and implies strong consequences for slender structures in passive…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…