Related papers: Control for autonomous vehicles in collision avoid…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
This paper presents a framework to perform bifurcation analysis in laboratory experiments or simulations. We employ control-based continuation to study the dynamics of a macroscopic variable of a microscopically defined model, exploring the…
For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at…
This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
This paper presents a novel framework for stabilizing nonlinear systems represented in state-dependent form. We first reformulate the nonlinear dynamics as a state-dependent parameter-varying model and synthesize a stabilizing controller…
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…
Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
The rising presence of autonomous vehicles (AVs) on public roads necessitates the development of advanced control strategies that account for the unpredictable nature of human-driven vehicles (HVs). This study introduces a learning-based…
Through the method of Learning Feedback Linearization, we seek to learn a linearizing controller to simplify the process of controlling a car to race autonomously. A soft actor-critic approach is used to learn a decoupling matrix and drift…
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,…
This paper presents two direct parameterizations of stable and robust linear parameter-varying state-space (LPV-SS) models. The model parametrizations guarantee a priori that for all parameter values during training, the allowed models are…
Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the performance and robustness of the complete cyber-physical…
This paper addresses the lateral control of Autonomous & Connected Vehicles (ACVs) convoys during Emergency Lane Change (ELC) maneuvers. These maneuvers are initiated in response to emergency cues from either the front or rear of the…
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 presents a safety guaranteed control method for an autonomous vehicle ski-stunt maneuver, that is, a vehicle moving with two one-side wheels. To capture the vehicle dynamics precisely, a Gaussian process model is used as…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…