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Tolksdorf, L. (author), Tejeda, A. (author), van de Wouw, N. (author), Birkner, C. (author)In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerges from embedding risk in AV motion planning algorithms. Additionally, providing evidence that risk is minimized during the AV operation is essential to vehicle safety...conference paper 2023
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van der Ploeg, C. (author), Alirezaei, M. (author), van de Wouw, N. (author), Esfahani, P.M. (author)In this article, we propose a tractable nonlinear fault estimation filter along with explicit performance bounds for a class of linear dynamical systems in the presence of both additive and nonlinear multiplicative faults. We consider the case, where both faults may occur simultaneously and through an identical dynamical relationship, a setting...article 2022
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Biemond, J.J.B. (author), Postoyan, R. (author), Heemels, W.P.M.H. (author), van de Wouw, N. (author)We investigate stability of a solution of a hybrid system in the sense that the graphs of solutions from nearby initial conditions remain close and tend towards the graph of the given solution. In this manner, a small continuous-time mismatch is allowed between the jump times of neighbouring solutions and the ‘peaking phenomenon’ is avoided. We...article 2020
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- Rijnen, M. (author), Biemond, J.J.B. (author), van de Wouw, N. (author), Saccon, A. (author), Nijmeijer, H. (author) article 2020
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van Nunen, E. (author), Verhaegh, J. (author), Silvas, E. (author), Semsar-Kazerooni, E. (author), van de Wouw, N. (author)To improve traffic throughput, Cooperative Adaptive Cruise Control (CACC) has been proposed as a solution. The usage of Vehicle-to-Vehicle (V2V) communication enables short following distances, thereby increasing road capacity and fuel reduction (especially for trucks). Control designs for CACC use the wirelessly communicated intended...conference paper 2018
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Ploeg, J. (author), Semsar-Kazerooni, E. (author), Morales Medina, A.I. (author), de Jongh, J.F.C.M. (author), van de Sluis, J. (author), Voronov, A. (author), Englund, C. (author), Bril, R.J. (author), Salunkhe, H. (author), Arrúe, A. (author), Ruano, A. (author), García-Sol, L. (author), van Nunen, E. (author), van de Wouw, N. (author)Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension toward maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture,...article 2017
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Zegers, J.C. (author), Semsar Kazerooni, E. (author), Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author)In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider...article 2017
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Firooznia, A. (author), Ploeg, J. (author), van de Wouw, N. (author), Zwart, H. (author)Small inter-vehicle distances can increase traffic throughput on highways. Human drivers are not able to drive safely under such conditions. To this aim, cooperative adaptive cruise control (CACC) systems have been developed, which require vehicles to communicate with each other through a wireless communication network. By communicating control...article 2017
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- Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author) conference paper 2016
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Zegers, J.C. (author), Semsar-Kazerooni, E. (author), Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author)In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for...conference paper 2016
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Fusco, M. (author), Semsar Kazerooni, E. (author), Ploeg, J. (author), van de Wouw, N. (author)In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider thirdorder systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing...conference paper 2016
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Ploeg, J. (author), Semsar-Kazerooni, E. (author), Lijster, G. (author), van de Wouw, N. (author), Nijmeijer, H. (author)Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and packet loss. In the latter case, it would...article 2015
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Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author)Nowadays, throughput has become a limiting factor in road transport. An effective means to increase the road throughput is to employ a small intervehicle time gap using automatic vehicle-following control systems. String stability, i.e., the disturbance attenuation along the vehicle string, is considered an essential requirement for the design...article 2014
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Oncu, S. (author), Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author)In this paper, we consider a Cooperative Adaptive Cruise Control (CACC) system, which regulates intervehicle distances in a vehicle string, for achieving improved traffic flow stability and throughput. Improved performance can be achieved by utilizing information exchange between vehicles through wireless communication in addition to local...article 2014
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Ploeg, J. (author), Shukla, D.P. (author), van de Wouw, N. (author), Nijmeijer, H. (author)Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable,...article 2014
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Ploeg, J. (author), Semsar-Kazerooni, E. (author), Lijster, G. (author), van de Wouw, N. (author), Nijmeijer, H. (author)Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as packet loss, in which case it would effectively degrade to...conference paper 2013
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Zwart, H. (author), Firooznia, A. (author), Ploeg, J. (author), van de Wouw, N. (author)This paper considers the optimal control problem for a class of infinite-dimensional systems, namely spatially invariant systems. A common assumption in the scope of such optimal control problem is the exponential stabilizability of the infinite-dimensional plant. We propose sufficient conditions for the optimizability of spatially invariant...conference paper 2013
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Bolder, J.J. (author), Witvoet, G. (author), de Baar, M.R. (author), van de Wouw, N. (author), Haring, M.A.M. (author), Westerhof, E. (author), Doelman, N.J. (author), Steinbuch, M. (author)The systematic design of a robust adaptive control strategy for the sawtooth period using electron cyclotron current drive (ECCD) is presented. Recent developments in extremum seeking control (ESC) are employed to derive an optimized controller structure and offer practical tuning guidelines for its parameters. In this technique a cost function...article 2012
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van Dijk, N.J.M. (author), van de Wouw, N. (author), Doppenberg, E.J.J. (author), Oosterling, H.A.J. (author), Nijmeijer, H. (author)Chatter is an instability phenomenon in machining processes which limits productivity and results in inferior workpiece quality, noise and rapid tool wear. The increasing demand for productivity in the manufacturing community motivates the development of an active control strategy to shape the chatter stability boundary of manufacturing...article 2012
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Bolder, J.J. (author), Witvoet, G. (author), de Baar, M.R. (author), van de Wouw, N. (author), Haring, M.A.M. (author), Westerhof, E. (author), Doelman, N.J. (author), Steinbuch, M. (author)The sawtooth instability is a repetitive phenomenon occurring in plasmas of tokamak nuclear fusion reactors. Experimental studies of these instabilities and the effect they have on the plasma (notably the drive of secondary instabilities and consequent performance reduction) for a wide variety of plasma conditions is an important line of study...conference paper 2012
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