相关论文: Cooperative Extended State Observer Based Control …
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the…
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
In this paper, we theoretically develop and numerically validate an asymmetric linear bilateral control model (LBCM). The novelty of the asymmetric LBCM is that using this model all the follower vehicles in a platoon can adjust their…
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
Vehicles in developing countries have widely varying dimensions and speeds, and drivers tend to not follow lane discipline. In this flow state called "mixed traffic", the interactions between drivers and the resulting maneuvers resemble…