相关论文: Funnel cruise control
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting…
Recently, there has been a surge in interest in safe and robust techniques within reinforcement learning (RL). Current notions of risk in RL fail to capture the potential for systemic failures such as abrupt stoppages from system failures…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical…
This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…
Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during…
The Model Predictive Control (MPC) scheme Funnel MPC enables output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems with stable internal dynamics. Earlier works achieved the…
Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…
Online approximation of an infinite horizon optimal path-following strategy for a kinematic unicycle is considered. The solution to the optimal control problem is approximated using an approximate dynamic programming technique that uses…
Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…
The concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition…
We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…