An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e. the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the...

Adaptive leader-follower synchronization over heterogeneous and uncertain networks of linear systems without distributed observer

A challenging task in network synchronization is steering the network toward a coherent solution, when the dynamics of the constituent systems are heterogeneous and uncertain. In this situation, synchronization can be achieved via adaptive protocols (with adaptive feedback gains or adaptive coupling gains, or both). However, as state-of-the...

Cyclic communication in adaptive strategies to platooning: the case of synchronized merging

Recently proposed adaptive platooning strategies for connected automated vehicles are able to cope with uncertain vehicle parameters (uncertain driveline time constants), but can handle only acyclic graphs like look-ahead graphs. This prevents from enhancing platooning protocols with synchronized merging maneuvers, where cyclic communication...

Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking...