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Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the close-following strategy employed by CACC, which might…
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…
The study of resilient control of linear time-invariant (LTI) systems against denial-of-service (DoS) attacks is gaining popularity in emerging cyber-physical applications. In previous works, explicit system models are required to design a…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
Being one of the most promising applications enabled by connected and automated vehicles (CAV) technology, Cooperative Adaptive Cruise Control (CACC) is expected to be deployed in the near term on public roads.} Thus far, the majority of…
Connected and Autonomous Vehicles (CAVs) with their evolving data gathering capabilities will play a significant role in road safety and efficiency applications supported by Intelligent Transport Systems (ITS), such as Traffic Signal…
Decentralized Congestion Control (DCC) mechanisms have been a core part of protocol stacks for vehicular networks since their inception and standardization. The ETSI ITS-G5 protocol stack for vehicular communications considers the usage of…
Cooperative adaptive cruise control (CACC) has been recognized as a fundamental function of autonomous driving, in which platoon stability and energy efficiency are outstanding challenges that are difficult to accommodate in real-world…
This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through…
The Controller Area Network (CAN) protocol, essential for automotive embedded systems, lacks inherent security features, making it vulnerable to cyber threats, especially with the rise of autonomous vehicles. Traditional security measures…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
Defense against cyberattacks is an emerging topic related to fault-tolerant control. In order to avoid difficult mathematical modeling, model-free control (MFC) is suggested as an alternative to classical control. For illustration purpose a…
This article proposes a secure implementation for consensus using a dynamic event-triggered (DET) communication scheme in high-order nonlinear multi-agent systems (MAS) under asynchronous (distributed) denial of service (DoS) attacks. By…
Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of…
We study the stability properties of a control system composed of a dynamical plant and a feedback controller, the latter generating control signals that can be compromised by a malicious attacker. We consider two classes of feedback…
In this paper, we consider networked distributed systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. First, we consider a simple and typical scenario where…