相关论文: Exploring Attack Resilience in Distributed Platoon…
The study of resilient control of linear time-invariant (LTI) systems against denial-of-service (DoS) attacks is gaining popularity in emerging cyber-physical applications. In previous works, explicit system models are required to design a…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…
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…
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to…
This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a…
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)…
In distributed predictive control structures, communication among agents is required to achieve a consensus and approach an optimal global behavior. Such negotiation mechanisms are sensitive to attacks on these exchanges. This paper…
Advances in distributed machine learning can empower future communications and networking. The emergence of federated learning (FL) has provided an efficient framework for distributed machine learning, which, however, still faces many…
Although adverse effects of attacks have been acknowledged in many cyber-physical systems, there is no system-theoretic comprehension of how a compromised agent can leverage communication capabilities to maximize the damage in distributed…
This article presents a distributed model-predictive control (MPC) design for real-time voltage control in power systems, including an online method to estimate the bus admittance matrix $\mathbf{Y}$ to let it be time-varying and unknown a…
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…
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…
An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…
In order to enhance the performance of cyber-physical systems, this paper proposes the integrated de-sign of distributed controllers for distributed plants andthe control of the communication network. Conventionaldesign methods use static…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…
Recent developments in the smart mobility domain have transformed automobiles into networked transportation agents helping realize new age, large-scale intelligent transportation systems (ITS). The motivation behind such networked…
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…