Consensus-based Control Algorithm Research Articles

Decentralized Three Dimensional Formation Building Algorithms for a Team of Nonholonomic Mobile Agents

This article studies 3D formation building in three dimensional spaces by a team of mobile robotic sensors. The multi-agent system consists of mobile robotic sensors defined by the three degrees of freedom kinematics equations with the constraints on their linear and angular velocities. First, we propose a distributed consensus-based control algorithm for the mobile agents which result in forming a desired geometric configuration in 3D environments. Then, we present a decentralized random motion coordination law for the mobile robotic sensors for the case when the agents are unaware of their positions in the configuration in three dimensional environments. The proposed algorithms use some simple consensus rules for motion coordination and building desired geometric patterns. Convergence of the mobile agents to the given configurations are shown by extensive simulations. Moreover, performance of the proposed control laws have been proved mathematically.

A multiclass microscopic model for heterogeneous platoon with vehicle-to-vehicle communication

ABSTRACTConnected and autonomous (CA) vehicles have been verified to significantly improve traffic efficiency. However, there is still a long lifespan for heterogeneous traffic flow consisting of both human-driven and CA vehicles. Thus a deep understanding of the heterogeneous platoon dynamics is critical to the traffic stability issues for the deployment of CA vehicles in the near future. This paper aims to develop a multiclass microscopic model for a heterogeneous platoon which can explicitly demonstrate the interaction between human-driven and CA vehicles. Specifically, the consensus-based control algorithm is adopted to model the dynamics of CA vehicles and a typical car-following model is used to describe the dynamics of human-driven vehicles. We then theoretically and numerically study the linear stability condition of the heterogeneous platoon which takes into account the probabilistic delay in the communication, the penetration of the CA vehicles, and the relative order of the vehicle types in the platoon.

Consensus-Based Cooperative Control Based on Pollution Sensing and Traffic Information for Urban Traffic Networks.

Nowadays many studies are being conducted to develop solutions for improving the performance of urban traffic networks. One of the main challenges is the necessary cooperation among different entities such as vehicles or infrastructure systems and how to exploit the information available through networks of sensors deployed as infrastructures for smart cities. In this work an algorithm for cooperative control of urban subsystems is proposed to provide a solution for mobility problems in cities. The interconnected traffic lights controller (TLC) network adapts traffic lights cycles, based on traffic and air pollution sensory information, in order to improve the performance of urban traffic networks. The presence of air pollution in cities is not only caused by road traffic but there are other pollution sources that contribute to increase or decrease the pollution level. Due to the distributed and heterogeneous nature of the different components involved, a system of systems engineering approach is applied to design a consensus-based control algorithm. The designed control strategy contains a consensus-based component that uses the information shared in the network for reaching a consensus in the state of TLC network components. Discrete event systems specification is applied for modelling and simulation. The proposed solution is assessed by simulation studies with very promising results to deal with simultaneous responses to both pollution levels and traffic flows in urban traffic networks.