Related papers: String stable integral control design for vehicle …

This paper investigates the problem of dynamic event-triggered platoon control for intelligent vehicles (IVs) under denial of service (DoS) attacks and parameter uncertainty. DoS attacks disrupt vehicle-to-vehicle (V2V) communications,…

We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…

Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…

This paper investigates the impact of disturbances on controlling an autonomous vehicle to smooth mixed traffic flow in a ring road setup. By exploiting the ring structure of this system, it is shown that velocity perturbations impacting…

This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…

This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…

In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that…

In this paper we consider the problem of stabilization and tracking of desired state trajectory for a wide range of nonlinear control problems with disturbances. We present the sufficient conditions for the existence of $C^k$ state feedback…

It is a well known fact that finite time optimal controllers, such as MPC does not necessarily result in closed loop stable systems. Within the MPC community it is common practice to add a final state constraint and/or a final state penalty…

The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems…

This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

This paper presents an anti-windup PI controller, using a saturating integrator, for a single-input single-output stable nonlinear plant, whose steady-state input-output map is increasing. We prove that, under reasonable assumptions, there…

Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…

This paper demonstrates that the acceleration/deceleration limits in ACC systems can make a string stable ACC amplify the speed perturbation in natural driving. It is shown that the constrained acceleration/deceleration of the following…

We examine the design of the entrainment process for an uncountably infinite collection of coupled phase oscillators that are all subject to the same periodic driving signal. In the absence of coupling, an appropriately designed input can…

In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…

Control systems can show robustness to many events, like disturbances and model inaccuracies. It is natural to speculate that they are also robust to sporadic deadline misses when implemented as digital tasks on an embedded platform. This…

Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…