Related papers: String stable integral control design for vehicle …

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…

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 proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to…

This paper deals with the design of resilient Cooperative Adaptive Cruise Control (CACC) for homogeneous vehicle platoons in which communication is vulnerable to Denial-of-Service (DOS) attacks. We consider DOS attacks as consecutive packet…

We propose a robust nonlinear model predictive control design with generalized zone tracking (ZMPC) in this work. The proposed ZMPC has guaranteed convergence into the target zone in the presence of bounded disturbance. The proposed…

This paper considers a class of uncertain linear quantum systems subject to uncertain perturbations in the system Hamiltonian. We present a method to design a coherent robust H-infinity controller so that the closed loop system is robustly…

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…

In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…

This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…

The positive impacts of platooning on travel time reliability, congestion, emissions, and energy consumption have been shown for homogeneous roadway segments. However, speed limit changes frequently throughout the transportation network,…

Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…

This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…

Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…

This article is motivated by the lack of empirical data on the performance of commercially available Society of Automotive Engineers level one automated driving systems. To address this, a set of car following experiments are conducted to…

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…

We consider the problem of optimizing the steady state of a dynamical system in closed loop. Conventionally, the design of feedback optimization control laws assumes that the system is stationary. However, in reality, the dynamics of the…