The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on inputs are considered to ensure that the moves within road boundaries prevent collisions. An objective function, comprising various weighted sub-objectives, is designed, whose minimization leads advancement at desired speed, when possible, while avoiding obstacles. A nonlinear problem...

This paper develops a path planning algorithm for Connected and Automated Vehicles (CAVs) driving on lane-free highway, according to recently proposed novel paradigm vehicular traffic in the era of CAVs. The approach considers simple model vehicle kinematics, along with appropriate constraints control variables road boundaries. Appropriate, partly competitive sub-objectives are designed enable efficient advancement, while avoiding collisions other vehicles infeasible maneuvers. Based these...

ABSTRACT Magnetic Levitation (Maglev) is a technique that involves suspending an object using magnetic field. This study presents novel approach for robotic arm joints and end effectors by utilizing the functioning prototype of Maglev system due to their similar functionality. The proposed utilizes fractional‐order enhanced model reference adaptive controller (FOEMRAC) in conjunction with Coyote optimization algorithm (COA) control stability levitating objects. FOEMRAC employs modified MIT...

This article presents the consensus of a saturated second order multi-agent system with non-switching dynamics that can be represented by directed graph. The is affected data processing (input delay) and communication time-delays are assumed to asynchronous. agents have saturation nonlinearities, each them approximated into separate linear nonlinear elements. Nonlinear elements describing functions. Describing functions stability used estimate existence limit cycles in multiple control laws....

This paper presents a joint trajectory optimization algorithm for number of connected and automated vehicles in lane-free traffic environment with vehicle nudging. A double-integrator model is assumed the longitudinal lateral movement each one vehicles, considering constant state-dependent bounds on control inputs, including road boundary constraints. multi-objective function designed all minimized using an efficient feasible direction algorithm. leads to minimization fuel consumption,...

This paper proposes a novel integrated robust system identification and state of charge estimation Li-ion battery. A finite time extended observer is used for (SOC) relay feedback test has been adopted to yield accurate battery parameters in noisy environment. New method using space based approach employed with disturbance nullifier extract the model. Thereafter, objective SOC carried out by designing on higher order sliding modes. The unknown model are determined first, followed next, under...

In this paper, a six Degrees of Freedom (DOF) robot manipulator is used. Modeling done by developing the complete kinematics analysis robotic arm. The equations forward kinematic have been derived based on Denavit-Hartenberg Convention method. Calculation inverse arm shown and velocity computed with help Jacobian matrix for Various end effectors positions are calculated using changing joint angles.

This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network distributed agents with switching topologies.To control, considered topology forms strongly connected graph.The graph is no more whenever an agent loses communication.Whenever communication, the connected.The proposed back-tracking algorithm makes sure that backtracks its position unless reestablished, path changed consensus.In history following,...

Abstract In this paper, we study the consensus problem of second order agents with saturation. The distributed multi-agent system is connected under a fixed directed graph coupled input and communication time-delays. Using concepts describing function analysis, are approximated into cascade linear nonlinear systems. Nyquist stability criterion used for analysing conditions to reach derived. With simulation results corresponding hardware implementation, effectiveness proposed approach finding...

An optimal-control based path planning algorithm has been developed recently for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, including vehicle nudging.That movement strategy considers, in the lateral direction, desired speed that had set to zero previous works; other words, vehicles avoid if this is not helpful achieving some of their goals, e.g.achieving longitudinal by overtaking slower vehicles.In work, positioning proposed, aiming improve vehicles' speeds...

This paper focuses on the consensus problem in a decentralized multi-agent system with switching communication topologies. Consensus of agents can be reached for centralized dynamically topologies when union all forms spanning tree graph. In case control, topology must form strongly connected graph to reach consensus. A new algorithm, which uses “back-stepping” agents, is proposed this work assures whenever not connected. The algorithm ensures that an agent reaches position where if loses...

Internal boundary control (IBC) for lane-free automated vehicle traffic has been recently proposed. The total road width and capacity are flexibly shared between the two opposite directions of a highway in real-time to sensibly increase cross-road infrastructure utilization. Centralized solutions have already proposed, which, however, may be cumbersome long highways with respect offline controller design effort; extent communications; physical system architecture. To mitigate these issues,...