Related papers: Delay-aware Robust Control for Safe Autonomous Dri…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
Intelligent vehicles in autonomous driving and obstacle avoidance, the precise relative state of vehicles put forward a higher demand. For a vehicle-borne sensor network with time-varying transmission delays, the problem of coordinate…
We present a stochastic predictive controller for discrete time linear time invariant systems under incomplete state information. Our approach is based on a suitable choice of control policies, stability constraints, and employment of a…
Steer-by-Wire (SBW) systems are being adapted widely in semi-autonomous and fully autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties, external…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
Agents operating in physical environments need to be able to handle delays in the input and output signals since neither data transmission nor sensing or actuating the environment are instantaneous. Shields are correct-by-construction…
The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based…
Road condition is an important environmental factor for autonomous vehicle control. A dramatic change in the road condition from the nominal status is a source of uncertainty that can lead to a system failure. Once the vehicle encounters an…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of the fatalities in road accidents, making the development of…
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stabilizing CAV control…
Several studies have considered control theory tools for traffic control in communication networks, as for example the congestion control issue in IP (Internet Protocol) routers. In this paper, we propose to design a linear observer for…
In this paper, we investigate delayed linear difference systems and establish several fundamental results. We first provide a Kalman-type rank condition tailored for delayed linear difference systems. Furthermore, we construct the discrete…
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…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…