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Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
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,…
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. Other factors such as actuator dynamics and actuator command…
With the rapid development of Connected and Automated Vehicle (CAV) technology, limited self-driving vehicles have been commercially available in certain leading intelligent transportation system countries. When formulating the…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presence of delay is to employ control barrier functions (CBFs),…
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…
Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stabilizing CAV control…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
Maintaining both path-tracking accuracy and yaw stability of distributed drive electric vehicles (DDEVs) under various driving conditions presents a significant challenge in the field of vehicle control. To address this limitation, a…