相关论文: Significance of Low-level Controller for String St…

The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…

In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…

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…

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…

Cooperative Adaptive Cruise Control (CACC) is a fundamental connected vehicle application that extends Adaptive Cruise Control by exploiting vehicle-to-vehicle (V2V) communication. CACC is a crucial ingredient for numerous autonomous…

Autonomous driving has garnered significant attention in recent years, especially in optimizing vehicle performance under varying conditions. This paper addresses the challenge of maintaining maximum speed stability in low-speed autonomous…

The paper evaluates the influence of the maximum vehicle acceleration and variable proportions of ACC/CACC vehicles on the throughput of an intersection. Two cases are studied: (1) free road downstream of the intersection; and (2) red light…

This paper introduces a novel control framework for Lagrangian variable speed limits in hybrid traffic flow environments utilizing automated vehicles (AVs). The framework was validated using a fleet of 100 connected automated vehicles as…

Vehicle-to-vehicle communications can be unreliable as interference causes communication failures. Thereby, the information flow topology for a platoon of Connected Autonomous Vehicles (CAVs) can vary dynamically. This limits existing…

We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the true parameters are contained within an a priori known set…

Symbiotic control synergistically integrates fixed-gain control and adaptive learning architectures to mitigate system uncertainties more predictably than adaptive learning alone and without requiring prior knowledge of uncertainty bounds…

We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle as an autonomous stochastic system, using a hybrid model with…

This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…

Cooperative Adaptive Cruise Control (CACC) plays a pivotal role in enhancing traffic efficiency and safety in Connected and Autonomous Vehicles (CAVs). Reinforcement Learning (RL) has proven effective in optimizing complex decision-making…

Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…

For dynamic visible light communication (VLC) systems, received optical power fluctuates largely due to the fast movement of VLC terminals. Such fluctuations will cause possible signal clipping and quantization noise at the…

Security and stability challenges in future power systems with high penetration Inverter-Based Resources (IBR) have been anticipated as one of the main barriers to decarbonization. Grid-following IBRs may become unstable under small…

We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…

The paper proposes Resource Allocation (RA) schemes for a closed loop feedback control system by analysing the control-communication dependencies. We consider an Automated Guided Vehicle (AGV) that communicates with a controller located in…

This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…