Related papers: On Switched Event-triggered Full State-constrained…
This paper addresses the problem of event-triggered control for infinite-dimensional systems. We employ event-triggering mechanisms that compare the plant state and the error of the control input induced by the event-triggered…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
This paper considers nonlinear systems with full state feedback, a central controller and distributed sensors not co-located with the central controller. We present a methodology for designing decentralized asynchronous event-triggers,…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
Periodic event-triggered control (PETC) is a version of event-triggered control (ETC) that only requires to measure the plant output periodically instead of continuously. In this work, we present a construction of timing models for these…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
In networked control systems, communication is a shared and therefore scarce resource. Event-triggered control (ETC) can achieve high performance control with a significantly reduced amount of samples compared to classical, periodic control…
We consider the problem of designing learning-based reactive power controllers that perform voltage regulation in distribution grids while ensuring closed-loop system stability. In contrast to existing methods, where the provably stable…
This paper investigates the optimal formation control problem of a class of nonlinear multi-agent systems(MASs) under Denial-of-Service(DoS) attacks. We design the optimal formation control law using an event-triggered control scheme to…
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…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This article aims at providing a unified analysis of the exponential stabilization of some abstract infinite dimensional systems undergoing an event-triggering mechanism that samples the control input. The partial differential equation is…
We present an event-triggered boundary control scheme for a class of reaction-diffusion PDEs using operator learning and backstepping method. Our first-of-its-kind contribution aims at learning the backstepping kernels, which inherently…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are…
This paper considers the problem of scheduling autonomous vehicles in intersections. A new system is proposed that could be an additional choice to the recently introduced Autonomous Intersection Management (AIM) model. The proposed system…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…