Robust co-synthesis of embedded control systems with occasional deadline misses

Feedback control applications are robust to occasional deadline misses. This opens up the possibility of saving scarce (computation and communication) resources on embedded platforms. Stability and performance requirements of a control loop impose restrictions on acceptable patterns of deadline misses (e.g., not too many misses in a row). Such...

Padé approximation of delays in CACC-controlled string-stable platoons

Cooperative Adaptive Cruise Control (CACC) improves road throughput by employing intervehicle wireless communications. The inherent communication time delay significantly limits the minimum inter-vehicle distance in view of string stability. Applying a Padé approximation leads to a model with a rational transfer function, which allows many...

Cooperative adaptive cruise control: An artificial potential field approach

In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller....

Combined lateral and longitudinal CACC for a unicycle-type platoon

This paper presents the controller design for combined lateral and longitudinal Cooperative Adaptive Cruise Control (CACC) for a unicycle-type platoon with emphasis on the cornering maneuvers. A decentralized controller for lateral and longitudinal behavior is designed using input-output linearization by static feedback. A preceding vehicle look...

Interaction protocols for cooperative merging and lane reduction scenarios

This paper presents the interaction protocols developed for execution of two common scenarios in daily traffic using cooperative automated vehicles. The first proposed scenario addresses merging of a (semi-)automated car on a highway within a platoon of (semi-)automated vehicles. The second scenario is an extension of the first scenario with a...

Vehicle motion-state-estimation using distributed sensing

Knowing the position and speed of the vehicles on the road network in real-time is one of the major challenges that vehicle control and traffic management applications are facing. Wireless sensor networks received significant attention in the last decade and successful research put them in the forefront to answer this challenge. Wireless sensor...

A data-driven H2-optimal control approach for adaptive optics

Adaptive optics (AO) is used in ground-based astronomical telescopes to improve the resolution by counteracting the effects of atmospheric turbulence. Most AO systems are based on a simple control law that neglects the temporal evolution of the distortions introduced by the atmosphere. This paper presents a data-driven control design approach...

A multi-channel S-band FMCW radar front-end

This paper describes the design and performance of a low-cost synthesized FMCW radar module, operating in S band. The bi-layer PCB contains a frequency-agile low phase-noise synthesizer and three identical coherent receive-channels. The transmit channel has an automatic power control system that reduces the output power when a large reflection...

Asynchronous measurement and control Motor synchronization for mailing systems

The design of controllers for the synchronization of a master and slave motor in a mailing system is addressed. Two approaches to the corresponding hybrid control problem consisting of a continuous-time plant and a discrete-event sensor are discussed. Both methods have been tested successfully on an experiment set-up consisting of a master motor...