相关论文: Dissipativity-Based Decentralized Co-Design of Dis…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
Merging and splitting are of great significance for rigid body networks in making such networks reconfigurable. The main challenges lie in simultaneously ensuring the compositionality of the distributed controllers and the mesh stability of…
This paper presents a novel dissipativity-based distributed droop-free control approach for the voltage regulation problem in DC microgrids (MGs) comprised of an interconnected set of distributed generators (DGs), loads, and power lines.…
Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
To enhance the ability for vehicle platoons to respond to emergency scenarios, a platoon distribution reorganization decision-making framework is proposed. This framework contains platoon distribution layer, vehicle cooperative…
This paper presents a novel dissipativity-based distributed droop-free control approach for voltage regulation and current sharing in DC microgrids (MGs) comprised of an interconnected set of distributed generators (DGs), loads, and power…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
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…
Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
This paper presents a dissipativity-based distributed droop-free control and communication topology co-design framework for voltage regulation and current sharing in DC microgrids (MGs), where constant-power loads (CPLs) and voltage-source…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
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…
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
Vehicle platooning is an automated driving technology that enables a group of vehicles to travel very closely together as a single unit to improve fuel efficiency and driver safety and reduces CO2 emission. The significant benefits of…
This paper presents a novel dissipativity-based distributed droop-free control and communication topology co-design approach for voltage regulation and current sharing in DC microgrids (DC MGs) with generic ``ZIP'' (constant impedance (Z),…