Macroscopic modelling and robust control of bi-modal multi-region urban road networks

The paper concerns the integration of a bi-modal Macroscopic Fundamental Diagram (MFD) modelling for mixed traffic in a robust control framework for congested single- and multi-region urban networks. The bi-modal MFD relates the accumulation of cars and buses and the outflow (or circulating flow) in homogeneous (both in the spatial distribution of congestion and the spatial mode mixture) bi-modal traffic networks. We introduce the composition of traffic in the network as a parameter that affects the shape of the bi-modal MFD. A linear parameter varying model with uncertain parameter the vehicle composition approximates the original nonlinear system of aggregated dynamics when it is near the equilibrium point for single- and multi-region cities governed by bi-modal MFDs. This model aims at designing a robust perimeter and boundary flow controller for single- and multi-region networks that guarantees robust regulation and stability, and thus smooth and efficient operations, given that vehicle composition is a slow time-varying parameter. The control gain of the robust controller is calculated off-line using convex optimisation. To evaluate the proposed scheme, an extensive simulation-based study for single- and multi-region networks is carried out. To this end, the heterogeneous network of San Francisco where buses and cars share the same infrastructure is partitioned into two homogeneous regions with different modes of composition. The proposed robust control is compared with an optimised pre-timed signal plan and a single-region perimeter control strategy. Results show that the proposed robust control can significantly: (i) reduce the overall congestion in the network; (ii) improve the traffic performance of buses in terms of travel delays and schedule reliability, and; (iii) avoid queues and gridlocks on critical paths of the network

Adaptive Differential Feedback in Time-Varying Multiuser MIMO Channels

In the context of a time-varying multiuser multiple-input-multiple-output (MIMO) system, we design recursive least squares based adaptive predictors and differential quantizers to minimize the sum mean squared error of the overall system. Using the fact that the scalar entries of the left singular matrix of a Gaussian MIMO channel becomes almost Gaussian distributed even for a small number of transmit antennas, we perform adaptive differential quantization of the relevant singular matrix entries. Compared to the algorithms in the existing differential feedback literature, our proposed quantizer provides three advantages: first, the controller parameters are flexible enough to adapt themselves to different vehicle speeds; second, the model is backward adaptive i.e., the base station and receiver can agree upon the predictor and variance estimator coefficients without explicit exchange of the parameters; third, it can accurately model the system even when the correlation between two successive channel samples becomes as low as 0.05. Our simulation results show that our proposed method can reduce the required feedback by several kilobits per second for vehicle speeds up to 20 km/h (channel tracker) and 10 km/h (singular vector tracker). The proposed system also outperforms a fixed quantizer, with same feedback overhead, in terms of bit error rate up to 30 km/h.Comment: IEEE 22nd International Conference on Personal, Indoor and Mobile Radio Communications (2011

Global and robust attitude control of a launch vehicle in exoatmospheric flight

The goal of this research is to design global and robust attitude control systems for launch vehicles in exoatmospheric flight. An attitude control system is global when it guarantees that the vehicle converges to the desired attitude regardless of its initial condition. Global controllers are important because when large angle maneuvers must be performed, it is simpler to use a single global controller than several local controllers patched together. In addition, the designed autopilots must be robust with respect to uncertainties in the parameters of the vehicle, which means that global convergence must be achieved despite of those uncertainties. Two designs are carried out. In the first one possible delays introduced by the actuator are neglected. The design is performed by using a Lyapunov approach, and the obtained autopilot is a standard proportional-derivative controller. In the second one, the effects of the actuator are considered. Then the design is based on robust backstepping which leads to a memory-less nonlinear feedback of attitude, attitude-rate, and of the engine deflection angle. Both autopilots are validated in a case study