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Platoon driving is critical to improve safety, efficiency, and fuel economy. This paper presents a control method for heterogeneous vehicular platoons with uncertain dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are measured by H-infinity norm and satisfied by casting into a linear fractional transformation (LFT) format. A delay-dependent...
This paper deals with the networked decentralized control problem for vehicle dynamics stability. Firstly, the nonlinear roll, sideslip, Yaw model of the vehicle dynamics is represented by an interconnected Takagi-Sugeno (TS) fuzzy model. Secondly, using a fuzzy Lyapunov- Krasovskii functional, asymptotic stability sufficient conditions of vehicle behavior through a decentralized networked control...
According to the characteristic that each wheel torque of 4WD electric vehicle is independent controllable, the control allocation method with a hierarchical structure is adopted to improve the handling stability of the vehicle by optimizing the distribution of motor torque. The controller is composed of an upper controller and a lower controller. Taking the vehicle sideslip angle and yaw rate as...
The dynamic stability of a vehicle is of profound significance which has led three wheel vehicles to be used for only low speed application. Static Stability Factor (SSF) is a commonly used safety rating for vehicles. In this paper, stability of a three-wheeled vehicle with two wheels on the front (2F1R), a three-wheeled vehicle with two wheels on the rear (1F2R) and a standard four-wheeled vehicle...
This paper introduces a learning-based robust control algorithm that provides robust stability and performance guarantees during learning. The approach uses Gaussian process (GP) regression based on data gathered during operation to update an initial model of the system and to gradually decrease the uncertainty related to this model. Embedding this data-based update scheme in a robust control framework...
Controlling vehicle yaw rate is crucial for vehicle safety. In this work, a novel computationally inexpensive yaw rate controller using tyre force measurements is proposed. Most of the yaw rate controllers use a tyre model that introduces modeling error because of the tyre model nonlinearities and uncertainties. This may degrade the controller performance. On the other hand, modeling with tyre force...
In this paper, a feedback linearization technique is proposed. Input-output feedback linearization is applied to the nonlinear model to make it linear. The controller of the linearized model is designed by linear control theory. We consider that the state is measured. The tracking control law is based on pole placement and regular perturbations techniques. The proposed control scheme is illustrated...
This paper studies the closely related problems of target capturing and station keeping by an autonomous vehicle agent within the limitations of having access to the measurements of distance from the target only, where station keeping refers to moving the agent to a position having predefined distances from a network of sensory stations or other agents. These problems have been recently studied for...
The paper introduces a novel platooning model for vehicles subject to nonlinear drag. A linear parametric controller, taking into account both the actual position and the relative displacement with respect to neighbors, is applied to each vehicle and, then, its effects are investigated via a semi-analytical approach based on partial differential equations. When the control law on the interactions...
This work describes a type of distributed feedback control algorithm that acts on a vertical queueing network where flow dynamics may greatly outpace the rate of feedback and actuation. The modeled network has a known, finite set of feasible actuations for the binary controllers located at each network node. It also has known expected demands, split ratios, and maximum service rates. Previous work...
In this paper, we investigate effects of communication delays on the nonlinear dynamics of connected vehicle systems. Our modeling framework incorporates communication delays, which arise from the intermittency and packet drops in wireless vehicle-to-vehicle communication. Plant stability and string stability are used to characterize the system-level performance of vehicle networks. Delay-dependent...
In this paper, a data-driven non-model-based approach is proposed for the adaptive optimal control of connected vehicles, comprised of n human-driven vehicles only transmitting motional data and an autonomous vehicle in the tail receiving the broadcasted data from preceding vehicles by wireless vehicle-to-vehicle (V2V) communication devices. An optimal control problem is formulated to minimize the...
We study a motion coordination problem where a group of agents is required to reach consensus while tracking a leader's sinusoidal reference velocity. We assume that the frequency of the reference velocity is available only to the leader. Building on an existing passivity-based internal model control design, we develop a decentralized two-time-scale adaptive control that estimates the unknown frequency...
Sliding mode control (SMC) is one of the few controller design methodologies that can be applied to highly nonlinear and uncertain systems. In most mechanical applications, a smoothed version of SMC that we call “sliding control” is employed to keep the system trajectories close to but not necessarily on a stable differential/difference manifold. In this paper, we propose an extension to the sliding...
This paper investigates the path following problem for four-wheel independently actuated (FWIA) autonomous vehicles (AVs). A novel output constraint controller is proposed to deal with the lateral offset control in path following and maintain the vehicle lateral stability in the presence of tire sliding effects. The innovation of this work includes the following two aspects: (1) A novel output constraint...
In this paper we investigate the concept of connected cruise control (CCC) where vehicles rely on ad-hoc wireless vehicle-to-vehicle (V2V) communication to control their longitudinal motion. While V2V communication potentially allows vehicles to build detailed knowledge about the traffic environment, intermittencies and packet drops introduce stochastic delays into the communication channels that...
The recent progress of advanced vehicle control systems presents a great opportunity for the application of model predictive control (MPC) in the automotive industry. However, high computational complexity inherently associated with the receding horizon optimization must be addressed to achieve real-time implementation. This paper presents a generic scale reduction framework to reduce the online computational...
This paper focuses on the aerodynamic design and performance of a mini airplane UAV. The mini aerial vehicle is based on a conceptual design considering a high aerodynamic finesse (a high ratio between lift and drag), flying and handling qualities in order to perform a reliable and stable flight. The equations of motion are described using the Newton-Euler formulation and the stability derivatives...
This study investigates Unmanned Aerial Vehicle (UAV) motion planning for ground attack missions involving enemy defenses. The UAV dynamics are modelled as a unicycle, linearized using dynamic extension and extended over a finite horizon as a piece-wise affine function. This is then formulated as a constrained, convex optimization problem in the form of Model Predictive Control (MPC) using closed-loop...
This article presents a review on the platform design, dynamic modeling and control of hybrid Unmanned Aerial Vehicles (UAVs). For now, miniature UAVs which have experienced a tremendous development are dominated by two main types, i.e., fixed-wing UAV and Vertical Take-Off and Landing (VTOL) UAV, each of which, however, has its own inherent limitations on such as flexibility, payload, axnd endurance...
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