Buffer-Aided Model Predictive Controller to Mitigate Model Mismatches and Localization Errors

Any vehicle needs to be aware of its localization, destination, and neighboring vehicles\u27 state information for collision free navigation. A centralized controller computes controls for cooperative adaptive cruise control (CACC) vehicles based on the assumed behavior of manually driven vehicles (MDVs) in a mixed vehicle scenario. The assumed behavior of the MDVs may be different from the actual behavior, which gives rise to a model mismatch. The use of erroneous localization information can generate erroneous controls. The presence of a model mismatch and the use of erroneous controls could potentially result into collisions. A controller robust to issues such as localization errors and model mismatches is thus required. This paper proposes a robust model predictive controller, which accounts for localization errors and mitigates model mismatches. Future control values computed by the centralized controller are shared with CACC vehicles and are stored in a buffer. Due to large localization errors or model mismatches when control computations are infeasible, control values from the buffer are used. Simulation results show that the proposed robust controller with buffer can avoid almost the same number of collisions in a scenario impacted by localization errors as that in a scenario with no localization errors despite model mismatch

Invited Review: Recent developments in vibration control of building and bridge structures

This paper presents a state-of-the-art review of recent articles published on active, passive, semi-active and hybrid vibration control systems for structures under dynamic loadings primarily since 2013. Active control systems include active mass dampers, active tuned mass dampers, distributed mass dampers, and active tendon control. Passive systems include tuned mass dampers (TMD), particle TMD, tuned liquid particle damper, tuned liquid column damper (TLCD), eddy-current TMD, tuned mass generator, tuned-inerter dampers, magnetic negative stiffness device, resetting passive stiffness damper, re-entering shape memory alloy damper, viscous wall dampers, viscoelastic dampers, and friction dampers. Semi-active systems include tuned liquid damper with floating roof, resettable variable stiffness TMD, variable friction dampers, semi-active TMD, magnetorheological dampers, leverage-type stiffness controllable mass damper, semi-active friction tendon. Hybrid systems include shape memory alloys-liquid column damper, shape memory alloy-based damper, and TMD-high damping rubber