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This paper tackles state feedback control of switched linear systems under arbitrary switching. We propose a data-driven control framework that allows to compute a stabilizing state feedback using only a finite set of observations of…
Experimental measurements on commercial adaptive cruise control (ACC) vehicles \RoundTwo{are} becoming increasingly available from around the world, providing an unprecedented opportunity to study the traffic flow characteristics that arise…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…
In addition to providing high-profile successes in computer vision and natural language processing, neural networks also provide an emerging set of techniques for scientific problems. Such data-driven models, however, typically ignore…
Barrier Lyapunov functions are suitable for learning control designs, due to their feature of finite duration tracking. This paper presents fractional barrier Lyapunov functions, provided and compared with the conventional ones in the…
Automated vehicles are gradually entering people's daily life to provide a comfortable driving experience for the users. The generic and user-agnostic automated vehicles have limited ability to accommodate the different driving styles of…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
We augment existing generator-side primary frequency control with load-side control that are local, ubiquitous, and continuous. The mechanisms on both the generator and the load sides are decentralized in that their control decisions are…
Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are…
The problem of synchronization and balancing around simple closed polar curves is addressed for unicycle-type multi-agent systems. Leveraging the concept of barrier Lyapunov function in conjunction with bounded Lyapunov-like curve-phase…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Adaptive Control Lyapunov Functions (aCLFs) were introduced 20 years ago, and provided a Lyapunov-based methodology for stabilizing systems with parameter uncertainty. The goal of this paper is to revisit this classic formulation in the…
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the availability of a model to select feasible inputs from the…
The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…