Related papers: Closed-loop design for scalable performance of veh…

This paper presents a unified string-stability framework for leader-follower multi-agent systems governed by first-, second-, and m-th order consensus protocols operating under an r-predecessor directed communication topology. While string…

Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…

In many real-world dynamical systems, obtaining precise models of system uncertainty remains a challenge. It may be difficult to estimate noise distributions or robustness bounds, especially when the distributions/robustness bounds vary…

This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…

In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…

In this paper, we address the problem of closed-loop control of nonlinear dynamical systems subjected to probabilistic uncertainties. More precisely, we design time-varying polynomial feedback controllers to follow the given nominal…

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…

In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…

This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…

Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…

Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…

A two-layer control architecture is proposed to enable scalable implementations for constraint-based decision strategies, such as model predictive controllers. The bottom layer is based upon a distributed feedback-feedforward scheme that…

We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…

A new framework to perform routing at the Autonomous System level is proposed in this paper. This mechanism, called Chain Routing, uses complete orders as its main topological unit. Since complete orders are acyclic digraphs that possess a…

We present a procedure to simultaneously design the output feedback law and the event-triggering condition to stabilize linear systems. The closed-loop system is shown to satisfy a global asymptotic stability property and the existence of a…

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…

The event-triggered consensus problem of first-order multi-agent systems under directed topology is investigated. The event judgements are only implemented at periodic time instants. Under the designed consensus algorithm, the sampling…

This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…

In this paper, a uniform approach to maximal permissiveness in modular control of discrete-event systems is proposed. It is based on three important concepts of modular closed-loops: monotonicity, distributivity, and exchangeability.…