相关论文: Cooperative Extended State Observer Based Control …
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
We introduce a novel distributed control architecture for heterogeneous platoons of linear time--invariant autonomous vehicles. Our approach is based on a generalization of the concept of {\em leader--follower} controllers for which we…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense…
This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are…
We investigate the possibility to use macroscopic information to improve control performance of a vehicular platoon composed of autonomous vehicles. A general mesoscopic traffic modeling is described, and a closed loop String Stability…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
We consider a distributed non cooperative control setting in which systems are interconnected via state constraints. Each of these systems is governed by an agent which is responsible for exchanging information with its neighbours and…
Cooperative Adaptive Cruise Control (CACC) is a well-studied technology for forming string-stable vehicle platoons. Ensuring collision avoidance is particularly difficult in CACC due to the small desired inter-vehicle spacing. We propose a…
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…
Switching communication topologies can cause instability in vehicle platoons, as vehicle information may be lost during the dynamic switching process. This highlights the need to design a controller capable of maintaining the stability of…
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…
We study the stability margin of a vehicular formation with distributed control, in which the control at each vehicle only depends on the information from its neighbors in an information graph. We consider a D-dimensional lattice as…
This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control algorithm for the connected and automated vehicle (CAV) platoon considering the heterogeneity of CAVs in terms of the inertial lag. Furthermore, a…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…