the control of car following is essential due to its safety and its operational efficiency. for this purpose, this paper builds a model of car following behavior based on armax structure from a real traffic dataset and design a model predictive control (mpc) system. based on the relative distance and relative acceleration of each instant, the mpc predicts the future behavior of the leader vehic...

Primal-dual path-following methods for constrained minimization problems in function space with low multiplier regularity are introduced and analyzed. Regularity properties of the path are proved. The path structure allows us to define approximating models, which are used for controlling the path parameter in an iterative process for computing a solution of the original problem. The Moreau–Yosi...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

The main ideas of path following by predictor-corrector and piecewise-linear methods, and their application in the direction of homotopy methods and non-linear eigenvalue problems are reviewed. Further new applications to areas such as polynomial systems of equations, linear eigenvalue problems, interior methods for linear programming, parametric programming and complex bifurcation are surveyed...

We present a novel control design procedure for the passivity-based stabilization of closed sets which leverages recent theoretical advances. The procedure involves using part of the control freedom in order to enforce a detectability property, while the remaining part is used for passivity-based stabilization. The procedure is illustrated in four case studies of path following coordination for...

We present a new algorithm obtained by changing the search directions in the algorithm given in [8]. This algorithm is based on a new technique for finding the search direction and the strategy of the central path. At each iteration, we use only the full Nesterov-Todd (NT)step. Moreover, we obtain the currently best known iteration bound for the infeasible interior-point algorithms with full NT...

This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based ...

In this paper, we propose a path-following method for computing a curve of equilibria of a dynamical system, based upon the smooth Singular Value Decomposition (SVD) of the Jacobian matrix. Our method is capable of detecting fold points, and continuing past folds. It is also able to detect branch points and to switch branches at such points. Algorithmic details and examples are given.