In this paper, the optimal adaptive leader-follower consensus of linear continuous time multi-agent systems is considered. The error dynamics of each player depends on its neighbors’ information. Detailed analysis of online optimal leader-follower consensus under known and unknown dynamics is presented. The introduced reinforcement learning-based algorithms learn online the approximate solution...

We introduce an information theoretic model predictive control (MPC) algorithm that is capable of controlling systems with dynamics represented by multi-layer neural networks and subject to complex cost criteria. The proposed approach is validated in two difficult simulation scenarios, a cart-pole swing up and quadrotor navigation task, and on real hardware on a 1/5th scale vehicle in an aggres...

Many types of vehicle control systems can conceivably be developed to help drivers maintain stability, avoid roll-over, and customize handling characteristics. A lack of state and parameter information, however, presents a major obstacle. This dissertation presents state and parameter estimation methods using the Global Positioning System (GPS) for vehicle dynamics control. It begins by explain...

We review the enabling theory for the decentralized and cooperative control of formations of unmanned, autonomous vehicles. The decentralized and cooperative formation control approach combines recent results from dynamical system theory, control theory, and algebraic graph theory. The stability of vehicle formations is discussed, and the applicability of the technology concept to a variety of ...

In this paper, a new virtual leader following consensus protocol is introduced to perform the internal and string stability analysis of longitudinal platoon of vehicles under generic network topology. In all previous studies on multi-agent systems with generic network topology, the control parameters are strictly dependent on eigenvalues of network matrices (adjacency or Laplacian). Since some ...

Today’s vehicles are much more than a mechanical device, and complex systems of sensing, computing, communication, and control are ubiquitously deployed to serve as the intelligent nerve systems of vehicles. For instance, the number of electronic control units (ECUs) is well over 70 in today’s high-end vehicles, and these ECUs process up to 2,500 signals (i.e., elementary information such as ve...

Automotive control systems, such as modern Advanced Driver Assistance Systems (ADAS), are becoming more complex and prevalent in the automotive industry. Therefore, a highly-efficient design and evaluation methodology for automotive control system development is required. In this paper, we propose a closed-loop simulation framework that improves ADAS design and evaluation. The proposed simulati...