相关论文: Nonlinear Cruise Controllers with Bidirectional Se…
We investigate the use of simple aerodynamic models for the feedback control of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
In this paper a novel platoon model is presented. Nonlinear aerodynamic effects, such as the wake generated by the preceding vehicle, are considered, and their influence in the set up of a Adaptive Cruise Controller (ACC) is investigated.…
This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The…
Security of Intelligent Transportation Systems (ITS) heavily depends on the security of the underlying components that create such a smart ecosystem. Adaptive Cruise Control (ACC) is embedded into most modern vehicles. In this report, we…
We present a new proof of the turnpike property for nonlinear optimal control problems, when the running target is a steady control-state pair of the underlying system. Our strategy combines the construction of quasi-turnpike controls via…
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making…
An Adaptive Cruise Control (ACC) system automatically adjusts the host vehicle's speed to maintain a safe following distance from a lead vehicle. In typical implementations, a feedback controller (e.g., a Proportional-Integral-Derivative…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
This article is motivated by the lack of empirical data on the performance of commercially available Society of Automotive Engineers level one automated driving systems. To address this, a set of car following experiments are conducted to…
This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supplemented with positional data from a radar sensor. The…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are…
This paper considers a class of thrust vectoring systems, which are nonlinear, overactuated, and time-invariant. We assume that the system is composed of two subsystems and there exist singular points around which the linearized system is…
The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the…