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This paper proposes a cooperative strategy of connected and automated vehicles (CAVs) longitudinal control for partially connected and automated traffic environment based on deep reinforcement learning (DRL) algorithm, which enhances the…
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which…
This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages.…
Absorption heat pumping devices (AHPDs, comprising absorption heat pumps and chillers) are devices that use thermal energy instead of electricity to generate heating and cooling, thereby facilitating the use of waste heat and renewable…
The entry phase constitutes a design driver for aerospace systems that include such a critical step. This phase is characterized by hypersonic flows encompassing multiscale phenomena that require advanced modeling capabilities. However,…
Electric vehicles (EVs) have been highly favoured as a future transportation mode in the transportation section in recent years. EVs have many advantages compared to traditional transportation, especially the environmental aspect. However,…
This paper presents an online-capable controller for the energy management system of a parallel hybrid electric vehicle based on model predictive control. Its task is to minimize the vehicle's fuel consumption along a predicted driving…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…
Heating, ventilation, and air-conditioning (HVAC) systems are ideal demand-side flexible resources to provide regulation services. However, finding the best hourly regulation capacity offers for HVAC systems in a power market ahead of time…
Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leading to crashes when tasked with carrying payloads that are…
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…
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…
Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…