European Journal of Control最新文献_第5页

Safe platooning and merging control using constructive barrier feedback 利用建设性障碍物反馈进行安全排线和并线控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101060

Xiao Chen, Zhiqi Tang, Karl H. Johansson, Jonas Mårtensson

{"title":"Safe platooning and merging control using constructive barrier feedback","authors":"Xiao Chen, Zhiqi Tang, Karl H. Johansson, Jonas Mårtensson","doi":"10.1016/j.ejcon.2024.101060","DOIUrl":"10.1016/j.ejcon.2024.101060","url":null,"abstract":"<div><div>This paper proposes a novel formation control design for safe platooning and merging of a group of vehicles in multi-lane road scenarios. Provided a leader vehicle is independently controlled, the objective is controlling the follower vehicles to drive in the desired lane with a constant desired distance behind the neighboring (preceding) vehicle while preventing collisions with both the neighboring vehicle and the road’s edges. Inspired by the recent concept of constructive barrier feedback, the proposed controller for each follower vehicle is composed of two parts: one is the nominal controller that ensures its tracking of the neighboring vehicle; another is for collision avoidance by using divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring vehicle and road edges without compromising the nominal controller’s performance. The key contribution of this work is that the proposed control method ensures collision-free platooning and merging control in multi-lane road scenarios with computational efficiency and systematic stability analysis. Simulation results are provided to demonstrate the effectiveness of the proposed algorithms.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101060"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141717569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stability of regional traffic networks employing maximum throughput demand management 采用最大吞吐量需求管理的区域交通网络的稳定性

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101061

Michalis Ramp , Andreas Kasis , Charalambos Menelaou , Stelios Timotheou

{"title":"Stability of regional traffic networks employing maximum throughput demand management","authors":"Michalis Ramp , Andreas Kasis , Charalambos Menelaou , Stelios Timotheou","doi":"10.1016/j.ejcon.2024.101061","DOIUrl":"10.1016/j.ejcon.2024.101061","url":null,"abstract":"<div><div>This paper considers the stability and optimality properties of traffic demand management schemes, motivated by the integration of smart monitoring and control technologies in traffic networks. First, a suitable optimization problem is formulated that aims to obtain demand input values that maximize the throughput within traffic networks adhering to regional traffic dynamics with triangular macroscopic fundamental diagrams. We show that optimal solutions to this problem may lead to unstable behaviour, revealing a trade-off between stability and optimality. To address this issue, we analytically study the stability properties of traffic networks at the presence of constant demand input and provide suitable local conditions that guarantee stability when the system’s equilibrium densities are strictly within the free-flow region, but not at the critical density. The latter case is significant, since the maximum throughput behaviour coincides in many cases with the local critical density. We resolve this by proposing a decentralized proportional demand control scheme and suitable local design conditions such that stability is guaranteed. Our analytic results are validated with numerical simulations in a 3-region system that demonstrate the effectiveness and practicality of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101061"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141577018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Combining learning and control in linear systems 线性系统中的学习与控制相结合

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101043

Andreas A. Malikopoulos

引用次数: 0

Robust partial eigenvalue assignment of second order descriptor systems 二阶描述系统的稳健部分特征值赋值

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101129

Huiqing Xie, Chuandong Liu

引用次数: 0

Communication-aware formation control for networks of AUVs 自动潜航器网络的通信感知编队控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101062

Simon A. Hoff, Josef Matouš, Damiano Varagnolo, Kristin Y. Pettersen

{"title":"Communication-aware formation control for networks of AUVs","authors":"Simon A. Hoff, Josef Matouš, Damiano Varagnolo, Kristin Y. Pettersen","doi":"10.1016/j.ejcon.2024.101062","DOIUrl":"10.1016/j.ejcon.2024.101062","url":null,"abstract":"<div><div>We propose a distributed formation control algorithm augmented with communication awareness. We consider autonomous underwater vehicles (AUVs) that are able to communicate over an acoustic link using a Time Division Multiple Access (TDMA) protocol, and to measure the Signal-to-Noise Ratio (SNR) of incoming messages. Based on the measured SNR and packet loss, we endow them with a distributed formation control scheme that accounts for the time-varying nature of the acoustic communication channel. This scheme allows a network of <span><math><mi>N</mi></math></span> AUVs to follow a pre-determined, twice-differentiable path while adapting their formation. The size of the formation is dynamically scaled by a formation adaptation mechanism to stabilize the estimated packet loss probability at a desired level. A distributed packet loss estimator is then built on top of the same average consensus routines used by the formation control algorithm, and thus comes with a minimal communication overhead. We test the algorithm by means of high-fidelity simulators, and verify its efficacy in making the network of agents retain formation-wide communication capabilities in a range of cases.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101062"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141397907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Minimizing the homogeneous L2-gain of homogeneous differentiators 使同质微分器的同质 L2 增益最小化

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101039

Benjamin Calmbach , Jaime A. Moreno , Johann Reger

{"title":"Minimizing the homogeneous L2-gain of homogeneous differentiators","authors":"Benjamin Calmbach , Jaime A. Moreno , Johann Reger","doi":"10.1016/j.ejcon.2024.101039","DOIUrl":"10.1016/j.ejcon.2024.101039","url":null,"abstract":"<div><div>The differentiation of noisy signals using the family of homogeneous differentiators is considered. It includes the high-gain (linear) as well as robust exact (discontinuous) differentiator. To characterize the effect of noise and disturbance on the differentiation estimation error, the generalized, homogeneous <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-gain is utilized. Analog to the classical <span><math><msub><mrow><mi>L</mi></mrow><mrow><mi>p</mi></mrow></msub></math></span>-gain, it is not defined for the discontinuous case w.r.t. disturbances acting on the last channel. Thus, only continuous differentiators are addressed. The gain is estimated using a differential dissipation inequality, where a scaled Lyapunov function acts as storage function for the homogeneous <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> supply rate. The fixed differentiator gains are scaled with a gain-scaling parameter similar to the high-gain differentiator. This paper shows the existence of an optimal scaling which minimizes the homogeneous <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-gain estimate and provides a procedure to obtain it locally. Differentiators of dimension two are considered and the results are illustrated via numerical evaluation and a simulation example.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101039"},"PeriodicalIF":2.5,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141401232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Output feedback integral sliding mode predictive control for linear discrete time systems 线性离散时间系统的输出反馈积分滑模预测控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101131

Huili Xiao , Shuzhan Zhang , Dongya Zhao , Xinggang Yan , Sarah K. Spurgeon

引用次数: 0

Data-driven event-triggering mechanism for linear systems subject to input saturation 输入饱和线性系统的数据驱动事件触发机制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101045

Alexandre Seuret , Sophie Tarbouriech

引用次数: 0

Adaptive asymptotic tracking control of constrained nonlinear MIMO systems subject to unknown hysteresis input: A novel network-based strategy 受制于未知滞后输入的非线性多输入多输出系统的自适应渐近跟踪控制：基于网络的新策略

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-10-19 DOI: 10.1016/j.ejcon.2024.101127

Wei Zhao , Yu-Qun Han , Shan-Liang Zhu

{"title":"Adaptive asymptotic tracking control of constrained nonlinear MIMO systems subject to unknown hysteresis input: A novel network-based strategy","authors":"Wei Zhao , Yu-Qun Han , Shan-Liang Zhu","doi":"10.1016/j.ejcon.2024.101127","DOIUrl":"10.1016/j.ejcon.2024.101127","url":null,"abstract":"<div><div>This paper presents a referential adaptive asymptotic tracking control scheme for nonlinear multi-input and multi-output (MIMO) systems with time-varying full-state constraints and unknown hysteresis input. In order to achieve good asymptotic tracking effect, a zero-limit positive continuous function is introduced into the adaptive backstepping design process while thoroughly considering the impact of disturbance-like terms on the tracking effect. Additionally, a new variable is also imported to replace the reciprocal of unknown coefficient of the Bouc–Wen hysteresis model. Then, a new adaptive law about the new variable is added by combining the positive function, which can not only lessen the impact of the unknown hysteresis input on the tracking effect, but also avoid the “singularity” problem. Aiming at the time-varying full-state constraints, a appropriate time-varying log-type barrier Lyapunov function (TLBLF) is constructed to ensure that all the states of the system are restricted within the constraint scope. Finally, a significant adaptive asymptotic tracking scheme is designed based on multi-dimensional Taylor network (MTN) approximation technology. Apart from achieving high-precision asymptotic tracking performance, the proposed scheme ensures the boundedness of all signals of the closed-loop system without violating the full-state constraints. And, three simulations are given to verify the effectiveness of the scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101127"},"PeriodicalIF":2.5,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142535551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive finite-time consensus tracking for nonlinear second-order multi-agent systems based on integral sliding mode 基于积分滑动模式的非线性二阶多代理系统的自适应有限时间共识跟踪

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-10-14 DOI: 10.1016/j.ejcon.2024.101122

Shan Wang , Xisheng Zhan , Jie Wu , Huaicheng Yan

引用次数: 0