Related papers: Internal and String Stability of an Observer-based…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller…
A major limitation of existing routing algorithms for multi-agent systems is that they are designed without considering the potential presence of adversarial agents in the decision-making loop, which could lead to severe performance…
This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
Cooperative Adaptive Cruise Control (CACC) systems are considered as key potential enablers to improve driving safety and traffic efficiency. They allow for automated vehicle following using wireless communication in addition to onboard…
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.…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
This paper investigates robust synchronization for multi-agent systems (MASs) governed by parabolic partial differential equations in the presence of both observable and unobservable disturbances. Using only boundary output measurements, a…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…
In this work, we report the enhanced stability of induced synchronization observed through transient uncoupling in a class of unidirectionally coupled identical chaotic systems. The phenomenon of transient uncoupling implies the clipping of…
This paper considers a string of vehicles where the local control law uses the states of the vehicle's immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling towards the…
Target output controllers aim at regulating a system's target outputs by placing poles of a suitable subsystem using partial state feedback, where full state controllability is not required. This paper establishes existence conditions for…
In this paper, we will consider a class of continuous-time stochastic control systems with both unknown nonlinear structure and unknown disturbances, and investigate the capability of the classical proportional-integral-derivative(PID)…
In autonomous driving, the temporal stability of 3D object detection greatly impacts the driving safety. However, the detection stability cannot be accessed by existing metrics such as mAP and MOTA, and consequently is less explored by the…
This paper proposes a novel unified interval-valued observer synthesis approach for locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with nonlinear observations. A key feature of our proposed observer, which…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…