相关论文: Mistuning-based Control Design to Improve Closed-L…

We consider the problem of zeroing an error output of a nonlinear discrete-time system in the presence of constant exogenous disturbances, subject to hard convex constraints on the input signal. The design specification is formulated as a…

Platooning of connected and autonomous vehicles (CAVs) has a significant potential for throughput improvement. However, the interaction between CAVs and non-CAVs may limit the practically attainable improvement due to platooning. To better…

We study the platoon control of vehicles with third-order nonlinear dynamics under the constant spacing policy. We consider a vehicle model with parameter uncertainties and external disturbances and propose a distributed control law based…

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…

Optimal control of the singular nonlinear parabolic PDE which is a distributional formulation of multidimensional and multiphase Stefan-type free boundary problem is analyzed. Approximating sequence of finite-dimensional optimal control…

We present a methodology for designing bilateral boundary controllers for a class of systems consisting of a coupled diffusion equation with an unstable ODE at an arbitrary interior point. A folding transformation is applied about the…

Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…

Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…

We develop backstepping state feedback control to stabilize a moving shockwave in a freeway segment under bilateral boundary actuations of traffic flow. A moving shockwave, consisting of light traffic upstream of the shockwave and heavy…

Time-distributed Optimization (TDO) is an approach for reducing the computational burden of Model Predictive Control (MPC). When using TDO, optimization iterations are distributed over time by maintaining a running solution estimate and…

This paper proposes a novel approach to improve the performance of distributed nonlinear control systems while preserving stability by leveraging Deep Neural Networks (DNNs). We build upon the Neural System Level Synthesis (Neur-SLS)…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

This paper considers a safe trajectory tracking of the Stefan problem with a second-order moving boundary dynamics. The model is given by a parabolic Partial Differential Equation (PDE) defined on a time-varying domain of moving boundary…

The paper deals with output feedback stabilization of exponentially stable systems by an integral controller. We propose appropriate Lyapunov functionals to prove exponential stability of the closed-loop system. An example of parabolic PDE…

This work studies the problem of controlling the mean-field density of large-scale stochastic systems, which has applications in various fields such as swarm robotics. Recently, there is a growing amount of literature that employs…

The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…

The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…

This study proposes a delay-compensated feedback controller based on proximal policy optimization (PPO) reinforcement learning to stabilize traffic flow in the congested regime by manipulating the time-gap of adaptive cruise…

Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…

This paper addresses the problem of robust stabilization for linear hyperbolic Partial Differential Equations (PDEs) with Markov-jumping parameter uncertainty. We consider a 2 x 2 heterogeneous hyperbolic PDE and propose a control law using…