相关论文: A Holistic Robust Motion Controller Framework for …

Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…

This paper presents an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with both matched and unmatched nonlinear uncertainties subject to both state and input constraints. In…

A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…

This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…

The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…

The design of Cooperative Adaptive Cruise Control (CACC) algorithms for vehicle platooning has been extensively investigated, leading to a wide range of approaches with different requirements and performance. Most existing studies evaluate…

In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…

We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…

Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the…

Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…

In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon optimal control problem with output feedback. Previously, this…

This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…

This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic cost and satisfying state and control constraints can be…

Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods…

This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…

This paper introduces an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with nonlinear time-varying uncertainties. The framework integrates an L1 adaptive controller to compensate…

This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…

Truck platooning is a promising technology that enables trucks to travel in formations with small inter-vehicle distances for improved aerodynamics and fuel economy. The real-world transportation system includes a vast number of trucks…

Connectivity is crucial in many multi-robot applications, yet balancing between maintaining it and the fleet's traversability in obstacle-rich environments remains a challenge. Reactive controllers, such as control barrier functions, while…