116,066 research outputs found
Exploiting timing information in event-triggered stabilization of linear systems with disturbances
In the same way that subsequent pauses in spoken language are used to convey
information, it is also possible to transmit information in communication
networks not only by message content, but also with its timing. This paper
presents an event-triggering strategy that utilizes timing information by
transmitting in a state-dependent fashion. We consider the stabilization of a
continuous-time, time-invariant, linear plant over a digital communication
channel with bounded delay and subject to bounded plant disturbances and
establish two main results. On the one hand, we design an encoding-decoding
scheme that guarantees a sufficient information transmission rate for
stabilization. On the other hand, we determine a lower bound on the information
transmission rate necessary for stabilization by any control policy
Provably safe cruise control of vehicular platoons
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose: 1) a centralized control policy and 2) a distributed control policy, where each vehicle's control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included.NSF; CPS-1446151; CMMI-1400167; FA 9550-15-1-0186 - AFOSR; Schlumberger Foundation Faculty for the Future Fellowship; FA 9550-15-1-0186 - AFOSR; NSF; ECCS-1550016; CNS 123922
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