Related papers: Multi-Objective $H_{\infty}$ Control for String St…
It is recognized that the control of mixed-autonomy platoons comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) can enhance traffic flow. Among existing methods, Multi-Agent Reinforcement Learning (MARL)…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…
Vehicle-to-vehicle communications can be unreliable as interference causes communication failures. Thereby, the information flow topology for a platoon of Connected Autonomous Vehicles (CAVs) can vary dynamically. This limits existing…
In mixed traffic environments, where Connected and Autonomed Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs), the self-centered behavior of human drivers may compromise the efficiency, optimality, and…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
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 continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…
Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
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 considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
In light of the recent humongous growth of the human population worldwide, there has also been a voluminous and uncontrolled growth of vehicles, which has consequently increased the number of road accidents to a large extent. In lieu of a…
Predictive Feedback Control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive Feedback Control is severely limited because asymptotic convergence speed decreases with…
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…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
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…