相关论文: Design of Robust Path-Following Control System for…
Autonomous driving has made significant progress in both academia and industry, including performance improvements in perception task and the development of end-to-end autonomous driving systems. However, the safety and robustness…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
The capability to follow a lead-vehicle and avoid rear-end collisions is one of the most important functionalities for human drivers and various Advanced Driver Assist Systems (ADAS). Existing safety performance justification of the…
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 proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
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…