3,258 research outputs found
Human-in-the-Loop Model Predictive Control of an Irrigation Canal
Until now, advanced model-based control techniques have been predominantly employed to control problems that are relatively straightforward to model. Many systems with complex dynamics or containing sophisticated sensing and actuation elements can be controlled if the corresponding mathematical models are available, even if there is uncertainty in this information. Consequently, the application of model-based control strategies has flourished in numerous areas, including industrial applications [1]-[3].Junta de Andalucía P11-TEP-812
230501
Cooperative Vehicular Platooning (Co-VP) is a paradigmatic example of a Cooperative Cyber-Physical System (Co-CPS), which holds the potential to vastly improve
road safety by partially removing humans from the driving task. However, the challenges are substantial, as the domain involves several topics, such as control theory,
communications, vehicle dynamics, security, and traffic engineering, that must be
coupled to describe, develop and validate these systems of systems accurately. This
work presents a comprehensive survey of significant and recent advances in Co-VP relevant fields. We start by overviewing the work on control strategies and underlying communication infrastructures, focusing on their interplay. We also address a fundamental concern by presenting a cyber-security overview regarding these systems. Furthermore, we present and compare the primary initiatives to test and validate those systems, including simulation tools, hardware-in-the-loop setups, and vehicular testbeds. Finally, we highlight a few open challenges in the Co-VP domain. This work aims to provide a fundamental overview of highly relevant works on Co-VP topics, particularly by exposing their inter-dependencies, facilitating a guide that will support further developments in this challenging field.info:eu-repo/semantics/publishedVersio
Control-aware Communication for Cooperative Adaptive Cruise Control
Utilizing vehicle-to-everything (V2X) communication technologies, vehicle
platooning systems are expected to realize a new paradigm of cooperative
driving with higher levels of traffic safety and efficiency. Connected and
Autonomous Vehicles (CAVs) need to have proper awareness of the traffic
context. However, as the quantity of interconnected entities grows, the expense
of communication will become a significant factor. As a result, the cooperative
platoon's performance will be influenced by the communication strategy. While
maintaining desired levels of performance, periodic communication can be
relaxed to more flexible aperiodic or event-triggered implementations. In this
paper, we propose a control-aware communication solution for vehicle platoons.
The method uses a fully distributed control-aware communication strategy,
attempting to decrease the usage of communication resources while still
preserving the desired closed-loop performance characteristics. We then
leverage Model-Based Communication (MBC) to improve cooperative vehicle
perception in non-ideal communication and propose a solution that combines
control-aware communication with MBC for cooperative control of vehicle
platoons. Our approach achieves a significant reduction in the average
communication rate () while only slightly reducing control performance
(e.g., less than speed deviation). Through extensive simulations, we
demonstrate the benefits of combined control-aware communication with MBC for
cooperative control of vehicle platoons.Comment: arXiv admin note: text overlap with arXiv:2203.1577
- …