相关论文: A Topology-Switching Coalitional Control and Obser…
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
In this paper we provide a set of stability conditions for linear time-varying networked control systems with arbitrary topologies using a piecewise quadratic switching stabilization approach with multiple quadratic Lyapunov functions. We…
This article explores the coalitional stability of a new cooperative control policy for freeways and parallel queuing facilities with multiple servers. Based on predicted future delays per queue or lane, a VOT-heterogeneous population of…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
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…
Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
This paper considers online switching control with a finite candidate controller pool, an unknown dynamical system, and unknown cost functions. The candidate controllers can be unstabilizing policies. We only require at least one candidate…
Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of…
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way, which has enabled the size and complexity of control applications to increase.…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
We present a hierarchical control scheme for large-scale systems whose components can exchange information through a data network. The main goal of the supervisory layer is to find the best compromise between control performance and…
Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…
The topology transition problem of transmission networks is becoming increasingly crucial with topological flexibility more widely leveraged to promote high renewable penetration. This paper proposes a novel methodology to address this…
The leader-following consensus of multiple linear time invariant (LTI) systems under switching topology is considered. The leader-following consensus problem consists of designing for each agent a distributed protocol to make all agents…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
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…