scholarly journals Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

2020 ◽  
Author(s):  
Kaushik Halder ◽  
Umberto Montanaro ◽  
Lee Gillam ◽  
Mehrdad Dianati ◽  
David Oxtoby ◽  
...  
Keyword(s):  
Controller Design ◽  
Distributed Controller ◽  
Vehicle Platooning ◽  
Packet Drop

scholarly journals Distributed H∞ Controller Design and Robustness Analysis for Vehicle Platooning Under Random Packet Drop

2020 ◽  
pp. 1-14
Author(s):  
Kaushik Halder ◽  
Umberto Montanaro ◽  
Shilp Dixit ◽  
Mehrdad Dianati ◽  
Alexandros Mouzakitis ◽  
...  
Keyword(s):  
Controller Design ◽  
Robustness Analysis ◽  
Vehicle Platooning ◽  
Packet Drop

A Panoramic View of Fault Management for Longitudinal Control of Automated Vehicle Platooning

2002 ◽  
Author(s):  
Xiao-Yun Lu ◽  
J. Karl Hedrick
Keyword(s):  
Controller Design ◽  
Fault Management ◽  
Strong Impact ◽  
Construction Simulation ◽  
Longitudinal Control ◽  
String Stability ◽  
Code Construction ◽  
Vehicle Platooning ◽  
Hardware Faults ◽  
Run Test

This paper proposes some principles for fault management of longitudinal control of automated vehicles in AHS. Systems faults may be broadly divided into software and hardware. Software fault management is briefly addressed. These faults can be avoided by proper controller design, rigorous algorithm development, correct and robust code construction, simulation and real-time run test. Emphases are put on hardware faults. Hardware faults which may appear in practice are classified according to their likelihood of appearance, impact on safety, robust stability within controller bandwidth and maneuverability. The most prominent cases are those when communication and/or radar are in fault. From control viewpoint, they have very strong impact on string stability. The main difficulties in these cases are: (a) Some or all of the three parameters: relative distance, speed and acceleration, are not directly available; (b) Measurements of these parameters contains some noise; (c) Filtering and estimation of these parameters lead to some time delay and discrepancy. General principle of control strategy for each fault case is proposed. Corresponding string stability of the platoon is briefly analyzed. Consideration in this paper is in higher level. To practically implement each of these strategies will be addressed in future works.

scholarly journals Optimal Distributed Controller Design for Nonlinear Coupled Dynamical Networks

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Hao Zhang ◽  
Huaicheng Yan ◽  
Qijun Chen
Keyword(s):  
Controller Design ◽  
Impulsive Control ◽  
Exponential Synchronization ◽  
Matrix Inequalities ◽  
Control Effort ◽  
Dynamical Networks ◽  
Nonlinear Dynamical ◽  
Coupling Delay ◽  
Distributed Controller ◽  
Coupling Strengths

This paper is concerned with the optimal distributed impulsive controller design for globally exponential synchronization of nonlinear dynamical networks with coupling delay. By the Lyapunov-Razumikhin method, a novel criterion is proposed to guarantee the global exponential synchronization of the coupled delayed network with distributed impulsive control in terms of matrix inequalities. The sum of coupling strengths of the distributed impulsive control is minimized to save the control effort. Finally, the effectiveness of the proposed method has been demonstrated by some simulations.

Velocity-free distributed geometric formation control for underactuated UAVs

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yanjie Chen ◽  
Weiwei Zhan ◽  
Yibin Huang ◽  
Zhiqiang Miao ◽  
Yaonan Wang
Keyword(s):  
Attitude Control ◽  
Formation Control ◽  
Control Method ◽  
Controller Design ◽  
Linear Velocity ◽  
Nonlinear Controller ◽  
Content Type ◽  
Distributed Controller ◽  
Cascade Structure ◽  
The Stability

Purpose This paper aims to investigate the distributed formation control problem for a multi-quadrotor unmanned aerial vehicle system without linear velocity feedbacks. Design/methodology/approach A nonlinear controller is proposed based on the orthogonal group SE(3) to obviate singularities and ambiguities of the traditional parameterized attitude representations. A cascade structure is applied in the distributed controller design. The inner loop is responsible for attitude control, and the outer loop is responsible for translational dynamics. To ensure a linear-velocity-free characteristic, some auxiliary variables are introduced to construct virtual signals in distributed controller design. The stability analysis of the proposed distributed control method by the Lyapunov function is provided as well. Findings A group of four quadrotors with constant reference linear velocity and a group of six quadrotors with varying reference linear velocity are adopted to verify the effectiveness of the proposed strategy. Originality/value This is a new innovation for multi-robot formation control method to improve assembly automation.

Distributed Controller Design for Dynamic Speed Limit Control Against Shock Waves on Freeways

2008 ◽  
Vol 41 (2) ◽  
pp. 14060-14065 ◽  
Author(s):  
Andrey Popov ◽  
Robert Babuška ◽  
Andreas Hegyi ◽  
Herbert Werner
Keyword(s):  
Shock Waves ◽  
Controller Design ◽  
Speed Limit ◽  
Distributed Controller

scholarly journals Distributed Supervisory Controller Design for Battery Swapping Modularity in Plug-In Hybrid Electric Vehicles

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Shifang Li ◽  
Ilya V. Kolmanovsky ◽  
A. Galip Ulsoy
Keyword(s):  
Fuel Economy ◽  
Hybrid Electric Vehicle ◽  
Controller Design ◽  
Decomposition Methods ◽  
Bilevel Optimization ◽  
Collaborative Optimization ◽  
Centralized Control ◽  
Supervisory Controller ◽  
Distributed Controller ◽  
Hybrid Electric

A distributed supervisory controller is proposed to achieve battery component swapping modularity (CSM) for a plug-in hybrid electric vehicle (PHEV). The CSM permits the designer to distribute a part of the supervisory controller to the battery module such that the PHEV can use a range of batteries while providing corresponding optimal fuel economy. A novel feedback-based controller for the charge sustaining mode is proposed to facilitate distributed controller design for battery CSM. The method based on sensitivity analysis of the control signals with respect to the battery hardware parameter is introduced to define the controller distribution architecture. The distributed controller gains are obtained by solving a bilevel optimization problem using the collaborative optimization and the augmented Lagrangian decomposition methods. The simulation results demonstrate that the proposed distributed controller can achieve battery CSM without compromising fuel economy compared to the centralized control case.

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