The advances in distributed intervehicle communication networks have stimulated a fruitful line of research cooperative adaptive cruise control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and with the preceding vehicle so as to maintain safe distance. However, crucial limitation state art this scheme is that string stability platoon can be proven only when vehicles identical driveline dynamics perfect engine...

This technical note establishes a novel result for adaptive asymptotic tracking control of uncertain switched linear systems. The exploits recently proposed stability condition In particular, time-varying positive definite Lyapunov function is used to develop piecewise continuous model-reference law and dwell-time switching law. contrast with previous research, where was possible only in the presence common reference models, this work shown more general setting. Additionally, persistence...

Managing grid-connected charging stations for fleets of electric vehicles leads to an optimal control problem where user preferences must be met with minimum energy costs (e.g., by exploiting lower electricity prices through the day, renewable production, and stored parked vehicles). Instead state-of-the-art scheduling based on open-loop strategies that explicitly depend initial operating conditions, this paper proposes approximate dynamic programming feedback-based optimization method...

This technical article is concerned with the bumpless transfer control synthesis of a class discrete-time switched linear systems general persistent dwell-time (PDT) switching signals. A novel piecewise transition-dependent controller facilitating designed, which ensures stability closed-loop system as well at occurrence switching. By imposing given bumps limitation constraints, sufficient conditions on existence are developed for nominal systems. The results extended to case disturbed an...

Estimation of energy models from data is an important part advanced fault detection and diagnosis tools for smart purposes. Estimated can be used a large variety management control tasks, spanning model predictive building to estimation consumption user behavior. In practical implementation, problems considered are the fact that some measurements relevance missing must estimated, other measurements, collected at low sampling rate save memory, make discretization physics-based critical. These...

This article investigates the stability of continuous-time switched linear systems with dwell-time constraints. A fresh insight into this established problem is provided via novel conditions that require solution to a family differential Lyapunov equations and algebraic equations. The proposed analysis, which leads peculiar function decreasing in between at switching instants, enjoys following properties: it achieves same dwell time as well-known result research "stability stabilization...

This paper presents a distributed model reference adaptive methodology for the output synchronization of heterogeneous linear agents with unknown dynamics. We consider setting in which control input is communicated among neighbors, instead observer variables. For those that can access signals model, classical adaptation laws lead to leader synchronization; cannot such signals, must be achieved by taking neighboring as an alternative model. show these two groups give rise types matching...

This article proposes a novel <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i> <sub xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> state estimation scheme for family of Takagi-Sugeno fuzzy semi-Markov jump systems with indirectly accessible mode information and nonideal data transmission. To address the modes, observed-mode sequence emitted by emission probabilities is utilized in this article. By extending classic Lyapunov stability...

A challenging task in network synchronization is steering the toward a coherent solution, when dynamics of constituent systems are heterogeneous and uncertain. In this situation, can be achieved via adaptive protocols (with feedback gains or coupling gains, both). However, as state-of-the-art methods adopt distributed observer architecture, they require to communicate extra variables among neighbors, addition neighbors' states (or outputs). The distinguishing feature article show that for...

This letter introduces a new switched adaptive control mechanism that can cope with parametric uncertainty while using discrete and saturated actuators. Control of air handling units (AHUs), where water supply have characteristics, is the motivational drive behind this letter. We show cheap actuation low computational requirements building automation installations be met after recasting AHU thermal dynamics as linear system working modes. Adaptive laws antiwindup compensation switching law...

In human-robot collaboration (HRC) tasks, the role of robot should be naturally and smoothly transitioned between leader follower to guarantee task performance. To realize this, arbitration shared control human needs properly designed assign a degree leadership robot. this paper, we propose fuzzy logic-based rule with help Kalman filter (KF). Based on rule, can continuously regulated zero one according interaction force velocity system intention taken into account. Besides, distance obstacle...

This article studies synchronization control of a novel devised treadmill-based testing apparatus for wheeled planetary rover roaming at low speed. To offer satisfactory tracking performance and to ameliorate internal conflicts amongst individual treadmills during rover-treadmill interaction, decentralized strategy integrating an adaptive friction compensation scheme is proposed. overcome the nonlinear effect low-velocity scenarios, LuGre model based constructed with dual-observer structure...

One promising function of interactive robots is to provide a specific interaction force human users. For example, rehabilitation are expected promote patients' recovery by interacting with them prescribed force. However, motion uncertainties different individuals, which hard predict due the varying speed and noises during motion, degrade performance existing control methods. This paper proposes method learn desired reference trajectory for robot based on dynamic primitives (DMPs) iterative...

Grouping individual vehicles into platoons with a defined inter-vehicle spacing policy has been proven to greatly improve road throughput and reduce vehicles' energy consumption. The emerging interest in distributed communication networks provided new tools for further improvements of the performance this platoon-based driving pattern. A leading control strategy such vehicular cyber-physical systems is Cooperative Adaptive Cruise Control (CACC). However, crucial limitation state-of-the-art...

Summary This paper addresses the problem of asymptotic tracking for switched linear systems with parametric uncertainties and dwell‐time switching, when input measurements are quantized due to presence a communication network closing control loop. The is solved via dynamic quantizer offset that, embedded in model reference adaptive framework, allows design adjustments parameters range quantizer. overall carried out Lyapunov‐based zooming procedure, whose main feature overcoming need at every...

This article proposes a switched adaptive resilient control method for missile autopilot systems subject to parametric uncertainties and unknown actuator failures. The nonlinear longitudinal dynamics of missiles are approximated by piecewise linear system, based on which computational effective fault-tolerant mechanism consisting laws with dwell-time constraint is developed. merit the proposed consists in integrating time-varying positive-definite matrices instead constant ones, guaranteeing...

Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of state-of-the-art this control scheme is that string stability platoon can be proven only when vehicles have identical driveline dynamics (homogeneous platoons). In paper, we present novel strategy overcomes homogeneity assumption and able to adapt its action achieve even with uncertain heterogeneous platoons unknown engine performance losses inevitable communication losses. Considering one-vehicle...

This article studies the problem of fault estimator design for switched time-delay systems with impulsive control. The delay signal is assumed to be uniformly bounded, differentiable and has a bounded derivative. first formulated in framework H ∞ filtering by incorporating priori knowledge into procedure. A hybrid controller, composed an constructed. Some delay-dependent sufficient conditions are derived on existence controller using multiple Lyapunov functional approach. In addition, based...