相关论文: Funnel cruise control

Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…

We consider tracking control of linear minimum phase systems with known arbitrary relative degree which are subject to possible output measurement losses. We provide a control law which guarantees the evolution of the tracking error within…

This paper proposes a coordinate-free controller for a nonholonomic vehicle to circumnavigate a fully-actuated moving target by using range-only measurements. If the range rate is available, our Proportional Derivative (PD)-like controller…

The collision-free velocity model is a microscopic pedestrian model, which despite its simplicity, reproduces fairly well several self-organization phenomena in pedestrian dynamics. The model consists of two components: a direction…

This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…

Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…

The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper considers a Deep Ensemble of Deep Neural Network regressors…

We propose a novel sampled-data output-feedback controller for nonlinear systems of arbitrary relative degree that ensures reference tracking within prescribed error bounds. We provide explicit bounds on the maximum input signal and the…

Modern automobiles can be considered as a collection of many subsystems working with each other to realize safe transportation of the occupants. Innovative technologies that make transportation easier are increasingly incorporated into the…

In this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

... This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound…

We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within…

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…

The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs…

Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by $r$-th order functional differential equations, encompassing inter alia systems with unknown "control direction" and dead-zone…