Related papers: Event-Triggered Extended State Observer Based Dist…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
The paper considers event-triggered leader-follower tracking control for multi-agent systems with general linear dynamics. For both undirected and directed follower graphs, we propose event triggering rules which guarantee bounded tracking…
This paper proposes an event-triggered boundary control for the safe stabilization of the Stefan PDE system with actuator dynamics. The control law is designed by applying Zero-Order Hold (ZOH) to the continuous-time safe stabilizing…
This paper studies impulsive stabilization of nonlinear systems. We propose two types of event-triggering algorithms to update the impulsive control signals with actuation delays. The first algorithm is based on continuous event detection,…
A model-based extended state observer (MB-ESO) and its variant are proposed for discrete-time linear multivariable systems, where multiple disturbances are defined as an extended state vector in the same manner as in the original…
This paper provides observer-based sampled-data and event-triggered boundary control strategies for a class of reaction-diffusion PDEs with collocated sensing and Robin actuation. Infinite-dimensional backstepping design is used as the…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented with two tunable design parameters, based on a Lyapunov functional result for the…
This paper provides an observer-based event-triggered boundary control strategy for the one-phase Stefan problem using the position and velocity measurements of the moving interface. The infinite-dimensional backstepping approach is used to…
This paper addresses the problem of achieving secure consensus in a vehicular platoon using event-triggered control. The platoon consists of a leader and multiple follower vehicles exchanging their position and velocity information…
We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where…
A general model-based extended state observer (GMB-ESO) is proposed for single-input single-output linear time-invariant systems with a given state space model, where the total disturbance, a lump sum of model uncertainties and external…
In this paper, linear and nonlinear event-triggered extended state observers are designed for a class of uncertain stochastic systems driven by bounded and colored noises. Two event-generators with an ensured positive minimum inter-event…
Koopman operator theory is a kind of data-driven modelling approach that accurately captures the nonlinearities of mechatronic systems such as vehicles against physics-based methods. However, the infinite-dimensional Koopman operator is…
This paper introduces an event-triggered source seeking control (ET-SSC) for autonomous vehicles modeled as the nonholonomic unicycle. The classical source seeking control is enhanced with static-triggering conditions to enable aperiodic…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
For an autonomous linear time-invariant (LTI) system, a distributed observer with time-triggered periodic observations and event-triggered communication is proposed to estimate the state of the system. It is shown that the sampling period…
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 proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the…
We present an event-triggered boundary control scheme for hyperbolic systems. The trigger condition is based on predictions of the state on determinate sets, where the control input is only updated if the predictions deviate from the…