相关论文: Suppression of Oscillations in Two-Class Traffic b…
This paper presents a mixed traffic control policy designed to optimize traffic efficiency across diverse road topologies, addressing issues of congestion prevalent in urban environments. A model-free reinforcement learning (RL) approach is…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
We design a two-component controller to achieve reference tracking with output constraints - exemplified on systems of relative degree two. One component is a data-driven or learning-based predictive controller, which uses data samples to…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified $\mathcal{H}_2$ and $\mathcal{H}_\infty$ performance criteria. For…
We study the derivation of generic high order macroscopic traffic models from a follow-the-leader particle description via a kinetic approach. First, we recover a third order traffic model as the hydrodynamic limit of an Enskog-type kinetic…
Urbanization and technological advancements are reshaping urban mobility, presenting both challenges and opportunities. This paper investigates how Artificial Intelligence (AI)-driven technologies can impact traffic congestion dynamics and…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
We propose a framework for constructing microscopic traffic models from microscopic acceleration patterns that can in principle be experimental measured and proper averaged. The exact model thus obtained can be used to justify the…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…
This paper examines the IDM microscopic car-following model from a dynamical systems perspective, analyzing the effects of delay on congestion formation. Further, a case of mixed-autonomy is considered by controlling one car with…
Urban traffic congestion, exacerbated by inefficient parking management and cruising for parking, significantly hampers mobility and sustainability in smart cities. Drivers often face delays searching for parking spaces, influenced by…
Recently we proposed an extension to the traffic model of Aw, Rascle and Greenberg. The extended traffic model can be written as a hyperbolic system of balance laws and numerically reproduces the reverse $\lambda$ shape of the fundamental…
While bringing convenience to people, the growing number of vehicles on road already cause inevitable traffic congestion. Some traffic congestion happen with observable reasons, but others occur without apparent reasons or bottlenecks,…
Human-driven vehicles (HVs) exhibit complex and diverse behaviors. Accurately modeling such behavior is crucial for validating Robot Vehicles (RVs) in simulation and realizing the potential of mixed traffic control. However, existing…
Effective traffic control is essential for mitigating congestion in transportation networks. Conventional traffic management strategies, including route guidance and ramp metering, often rely on state feedback controllers, which are used…
This note explores the idea of utilising a state-space model, congruent with the underlying equations of the Kalman filter with control input, for reconstructing the state of crowdedness in a transit network. The envisaged role of the…
A microscopic theory of control of spatial-temporal congested traffic pattern at freeway bottlenecks is presented. Based on empirical spatial-temporal features of congested patterns at freeway bottlenecks which have recently been found,…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…