相关论文: A Hybrid Controller for DOS-Resilient String-Stabl…

Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…

While emerging adaptive cruise control (ACC) technologies are making their way into more vehicles, they also expose a vulnerability to potential malicious cyberattacks. Previous research has typically focused on constant or stochastic…

Vehicle-to-vehicle (V2V) communications have a great potential to improve traffic system performance. Most existing work of connected and autonomous vehicles (CAVs) focused on adaptation to downstream traffic conditions, neglecting the…

Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…

Provisioning of Quality of Service (QoS) is a key issue in any multi-media system. However, in wireless systems, supporting QoS requirements of different traffic types is more challenging due to the need to minimize two performance metrics…

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…

This paper addresses a resilient exponential distributed convex optimization problem for a heterogeneous linear multi-agent system under Denial-of-Service (DoS) attacks over random digraphs. The random digraphs are caused by unreliable…

In autonomous driving, the hybrid strategy of deep reinforcement learning and cooperative adaptive cruise control (CACC) can fully utilize the advantages of the two algorithms and significantly improve the performance of car following.…

Learning-enabled controllers used in cyber-physical systems (CPS) are known to be susceptible to adversarial attacks. Such attacks manifest as perturbations to the states generated by the controller's environment in response to its actions.…

We introduce a novel data-driven method to mitigate the risk of cascading failures in delayed discrete-time Linear Time-Invariant (LTI) systems. Our approach involves formulating a distributionally robust finite-horizon optimal control…

Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…

This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to…

Adaptive cruise control systems are fundamental components of the automation of the driving. At upper control level, ACC systems are based on car-following models determining the acceleration rate of a vehicle according to the distance gap…

In this paper, we study networked control systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. The control objective is to maximize frequency and duration of…

This paper develops a cooperative fault-tolerant tracking framework for heterogeneous networked linear systems subject to sensor faults and external disturbances. Each unit employs an augmented $\mathcal{H}_\infty$ observer that jointly…

A conflict-avoiding code (CAC) is a deterministic transmission scheme for asynchronous multiple access without feedback. When the number of simultaneously active users is less than or equal to $w$, a CAC of length $L$ with weight $w$ can…

This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…