Related papers: Effective Finite Time Stability Control for Human-…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems due to their high efficiency, power density, and precise dynamic behavior. However, nonlinearities, load disturbances, and parameter…
Ultrasonic motors (USMs) are commonly used in aerospace, robotics, and medical devices, where fast and precise motion is needed. Remarkably, sliding mode controller (SMC) is an effective controller to achieve precision motion control of the…
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…
For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…
We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safety value function, which we first learn scalably through…
The authors present a cyber-physical systems study on the estimation of driver behavior in autonomous vehicles and vehicle safety systems. Extending upon previous work, the approach described is suitable for the long term estimation and…
Shared autonomy is an enabling technology that provides users with control authority over robots that would otherwise be difficult if not impossible to directly control. Yet, standard methods make assumptions that limit their adoption in…
Lane changing in dense traffic is a significant challenge for Connected and Autonomous Vehicles (CAVs). Existing lane change controllers primarily either ensure safety or collaboratively improve traffic efficiency, but do not consider these…
In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked…
This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online parameter estimation that guarantees convergence of the estimation…
Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and…
Federated Learning (FL) has emerged as a compelling methodology for the management of distributed data, marked by significant advancements in recent years. In this paper, we propose an efficient FL approach that capitalizes on additional…
Grid-forming (GFM) capability requirements are increasingly imposed on grid-connected voltage-source converters (VSCs). Under large grid disturbances, GFM-VSCs need to remain stable while providing GFM services. Yet, such objectives, as…
This study presents a hierarchical, network-level traffic flow control framework for mixed traffic consisting of Human-driven Vehicles (HVs), Connected and Automated Vehicles (CAVs). The framework jointly optimizes vehicle-level eco-driving…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…