相关论文: Cooperative Extended State Observer Based Control …
We investigate a control technique for spatially extended systems combining spatial filtering with a previously studied form of time-delay feedback. The scheme is naturally suited to real-time control of optical systems. We apply the…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…
The operation of groups of heavy-duty vehicles (HDVs) at a small inter-vehicular distance (known as platoon) allows to lower the overall aerodynamic drag and, therefore, to reduce fuel consumption and greenhouse gas emissions. However, due…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
As the development of autonomous vehicles rapidly advances, the use of convoying/platooning becomes a more widely explored technology option for saving fuel and increasing the efficiency of traffic. In cooperative adaptive cruise control…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is…
In this paper, we first present an adaptive distributed observer for a discrete-time leader system. This adaptive distributed observer will provide, to each follower, not only the estimation of the leader's signal, but also the estimation…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
In this paper, we investigate the effect of signal delay in communicated information in connected and autonomous vehicles. In particular, we relate this delay's effect on the selection of the time headway in predecessor-follower type…
This paper presents the design of an integral controller for vehicle platoons with actuator dynamics. The proposed controller ensures string stability with disturbances and simultaneously compensates for constant disturbances through…
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…