Related papers: Driving Towards Stability and Efficiency: A Variab…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
This paper investigates the accuracy and robustness of car-following (CF) and adaptive cruise control (ACC) models used to simulate measured driving behaviour of commercial ACCs. To this aim, a general modelling framework is proposed, in…
The paper proposes Resource Allocation (RA) schemes for a closed loop feedback control system by analysing the control-communication dependencies. We consider an Automated Guided Vehicle (AGV) that communicates with a controller located in…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
The automated vehicle (AV) equipped with the Adaptive Cruise Control (ACC) system is expected to reduce the fuel consumption for the intelligent transportation system. This paper presents the Advanced ACC-Micro (AA-Micro) model, a new…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
Integrating an automated driving software stack into vehicles with variable configuration is challenging, especially due to different hardware characteristics. Further, to provide software updates to a vehicle fleet in the field, the…
The design of Cooperative Adaptive Cruise Control (CACC) algorithms for vehicle platooning has been extensively investigated, leading to a wide range of approaches with different requirements and performance. Most existing studies evaluate…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…
Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the close-following strategy employed by CACC, which might…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Collaborative perception among multiple connected and autonomous vehicles can greatly enhance perceptive capabilities by allowing vehicles to exchange supplementary information via communications. Despite advances in previous approaches,…
In this study, a distinct reconfigurable fault-tolerant flight control strategy is addressed for mitigating one of the persistent safety-critical issue, i.e. loss of control triggered by actuator faults. The attainable acceleration set…
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 deals with the design of resilient Cooperative Adaptive Cruise Control (CACC) for homogeneous vehicle platoons in which communication is vulnerable to Denial-of-Service (DOS) attacks. We consider DOS attacks as consecutive packet…