Related papers: Effective Finite Time Stability Control for Human-…
In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the…
Advanced driving-assistance systems (ADAS) are intended to automatize driver tasks, as well as improve driving and vehicle safety. This work proposes an intelligent neuro-fuzzy sensor for driving style (DS) recognition, suitable for ADAS…
This paper presents an intelligent autonomous parking system with Hybrid Fuzzy Controllers (HFCs). The system enables intelligent vehicles to perform slot detection, parallel and vertical parking in a completely unmanned environment. The…
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that…
Lane changing is a complex decision-making problem for Connected and Autonomous Vehicles (CAVs) as it requires balancing traffic efficiency with safety. Although traffic efficiency can be improved by using vehicular communication for…
Adaptive traffic signal control (ATSC) can effectively reduce vehicle travel times by dynamically adjusting signal timings but poses a critical challenge in real-world scenarios due to the complexity of real-time decision-making in dynamic…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the…
An online evolving framework is proposed to support modeling the safe Automated Vehicle (AV) control system by making the controller able to recognize unexpected situations and react appropriately by choosing a better action. Within the…
It is highly predicted that the roads and parking areas will be extremely congested with vehicles to the point that searching for a novel solution will not be an optional choice for conserving the sustainability rate of the overall…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only…
This study presents a novel approach for modeling and simulating human-vehicle interactions in order to examine the effects of automated driving systems (ADS) on driving performance and driver control workload. Existing driver-ADS…
Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…
In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…
The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities…