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Author Peters, A.A.; Vargas, FJ.; Garrido, C.; Andrade, C.; Villenas, F. doi  openurl
  Title (down) PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control Type
  Year 2021 Publication Sensors Abbreviated Journal Sensors  
  Volume 21 Issue 6 Pages 2072  
  Keywords DISTURBANCE PROPAGATION; MOBILE ROBOT; SYSTEMS; EDUCATION  
  Abstract In this paper, we present the development of a low-cost multi-agent system experimental platform for teaching, and research purposes. The platform consists of train-like autonomous agents equipped with local speed estimation, distance sensing to their nearest predecessor, and wireless communications with other agents and a central coordinator. The individual agents can be used for simple PID experiments in a classroom or laboratory setting, while a collection of agents are capable of performing decentralized platooning with cooperative adaptive cruise control in a variety of settings, the latter being the main goal of the platform. The agents are built from low cost components and programmed with open source software, enabling teaching experiences and experimental work with a larger number of agents that would otherwise be possible with other existing solutions. Additionally, we illustrate with experimental results some of the teaching activities that the platform is capable of performing.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 1424-8220 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000652717700001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1391  
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Author Veliz-Tejo, A.; Travieso-Torres, J.C.; Peters, A.A.; Mora, A.; Leiva-Silva, F. doi  openurl
  Title (down) Normalized-Model Reference System for Parameter Estimation of Induction Motors Type
  Year 2022 Publication Energies Abbreviated Journal Energies  
  Volume 15 Issue 13 Pages 4542  
  Keywords parameter estimation; adaptive systems; induction motors; nonlinear dynamical systems; persistent excitation  
  Abstract This manuscript proposes a short tuning march algorithm to estimate induction motors (IM) electrical and mechanical parameters. It has two main novel proposals. First, it starts by presenting a normalized-model reference adaptive system (N-MRAS) that extends a recently proposed normalized model reference adaptive controller for parameter estimation of higher-order nonlinear systems, adding filtering. Second, it proposes persistent exciting (PE) rules for the input amplitude. This N-MRAS normalizes the information vector and identification adaptive law gains for a more straightforward tuning method, avoiding trial and error. Later, two N-MRAS designs consider estimating IM electrical and mechanical parameters. Finally, the proposed algorithm considers starting with a V/f speed control strategy, applying a persistently exciting voltage and frequency, and applying the two designed N-MRAS. Test bench experiments validate the efficacy of the proposed algorithm for a 10 HP IM.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 1996-1073 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000825676800001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1616  
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Author El Aiss, H.; Barbosa, K.A.; Peters, A.A. doi  openurl
  Title (down) Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model Type
  Year 2022 Publication IEEE Access Abbreviated Journal IEEE Access  
  Volume 10 Issue Pages 110459-110472  
  Keywords Delays; Vehicle dynamics; Fuzzy systems; Time-varying systems; Computational modeling; Symmetric matrices; Mathematical models; Lateral vehicle model; time-varying delay; observer-based control; T-S fuzzy model; LMIs  
  Abstract This paper deals with the state estimation and control problem for nonlinear lateral vehicle dynamics with time delays. First, a novel time-varying delay vehicle model described as a Takagi-Sugeno fuzzy model is presented. In particular, it is considered that the lateral force contains an air resistance term which is assumed to be a quadratic function of the lateral vehicle velocity. A time-varying delay has been included in the vehicle states by a simple formula in order to capture brake actuation aspects or other practical aspects that may generate a delayed response, while the nonlinear part of the vehicle model is described as a Lipschitz function. A Takagi-Sugeno time-delay observer-based control that satisfies the Lipschitz condition is proposed to get closed-loop stability conditions. These results generalize existing ones in the literature on lateral dynamics control. Additionally, we provide a new methodology for the controller and observer gains design that can be cast as linear matrix inequality constraints. Finally, we illustrate our results with numerical examples, which also reveal the negative effect of not considering the presence of delays in the controller design.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 2169-3536 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000873762800001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1670  
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Author Gordon, M.A.; Vargas, F.J.; Peters, A.A. doi  openurl
  Title (down) Mean square stability conditions for platoons with lossy inter-vehicle communication channels Type
  Year 2023 Publication Automatica Abbreviated Journal Automatica  
  Volume 147 Issue Pages 110710  
  Keywords Mean square stability; Vehicle platoons; Lossy channels  
  Abstract This paper studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and a constant time-headway spacing policy. Lossy channels are modeled by Bernoulli processes and allowed to be correlated in space. We make use of a class of compensation strategies to reduce the effect of data loss. Necessary and sufficient conditions are derived to guarantee the convergence of the mean and variance of the tracking errors, which depend not only on the controller design but also on the compensation strategy and the probabilities of successful transmission. We illustrate the theoretical results through numerical simulations, describing different platoon behaviors. We also provide insights on the mean-square stability as a necessary condition for string stability in this stochastic setting.(c) 2022 Elsevier Ltd. All rights reserved.  
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  Series Volume Series Issue Edition  
  ISSN 0005-1098 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000953942300020 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1767  
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Author Villenas, F.I.; Vargas, F.J.; Peters, A.A. doi  openurl
  Title (down) Exploring the Role of Sampling Time in String Stabilization for Platooning: An Experimental Case Study Type
  Year 2023 Publication Mathematics Abbreviated Journal Mathematics  
  Volume 11 Issue 13 Pages 2923  
  Keywords vehicle platoon; string stability; discrete time; sampled-data systems  
  Abstract In this article, we investigate the behavior of vehicle platoons operating in a predecessor-following configuration, implemented through sampled-data control systems. Our primary focus is to examine the potential influence of the sampling time on the string stability of the platoon. To address this, we begin by designing a string-stable platoon in continuous time. Subsequently, we consider the controller discretization process and proceed to simulate and implement the designed control strategy on an experimental platform at a scaled-down level. Through experimental testing and some theoretical results, we analyze the effects of different sampling times on the string stability performance of the platoon. We observe that an inappropriate selection of the sampling time can lead to a degradation in string stability within the platoon, making the choice of the sampling time crucial in maintaining the desired string stability properties. These findings highlight the importance of carefully considering the sampling time in the implementation of control systems for platooning applications.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 2227-7390 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:001028186900001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1844  
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Author Gordon, M.A.; Vargas, F.J.; Peters, A.A. doi  openurl
  Title (down) Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication Type
  Year 2021 Publication IEEE Access Abbreviated Journal IEEE Access  
  Volume 9 Issue Pages 103996-104010  
  Keywords Stability criteria; Numerical stability; Topology; Stochastic processes; Scalability: Loss measurement; Measurement uncertainty; Vehicular platoon control; lossy channels; string stability; constant time-headway; networked systems  
  Abstract This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology with a constant time headway policy. We assume that each agent in the platoon sends its current position to the immediate follower through a lossy channel modeled as a Bernoulli process. To reduce the negative effects of data loss over the string stability and performance of the platoon, we use simple strategies that modify the measurement, error, and control signals of the feedback control loop, in each vehicle, when a dropout occurs. Such strategies are based on holding the previous value, dropping to zero, or replacing with a prediction based on a simple linear extrapolation. We performed a simulation-based comparison among a set of different strategies, and found that some strategies are favorable in terms of performance, while some others present improvements for string stabilization. These results strongly suggest that proper design of compensation schemes for the communications of interconnected multi-agent systems plays an important role in their performance and their scalability properties.  
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  Series Volume Series Issue Edition  
  ISSN 2169-3536 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000679523500001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1442  
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Author Villenas, F.I.; Vargas, F.J.; Peters, A.A. doi  openurl
  Title (down) A Kalman-Based Compensation Strategy for Platoons Subject to Data Loss: Numerical and Empirical Study Type
  Year 2023 Publication Mathematics Abbreviated Journal Mathematics  
  Volume 11 Issue 5 Pages 1228  
  Keywords vehicle platoon; lossy communication; string stability; networked control systems; Kalman filtering  
  Abstract This article considers a homogeneous platoon with vehicles that communicate through channels prone to data loss. The vehicles use a predecessor-following topology, where each vehicle sends relevant data to the next, and data loss is modeled through a Bernoulli process. To address the lossy communication, we propose a strategy to estimate the missing data based on the Kalman filter with intermittent observations combined with a linear extrapolation stage. This strategy enables the followers to better deal with data dropouts. We compare this approach to one purely based on the linear extrapolation of previous data. The performance of both strategies is analyzed through Monte Carlo simulations and experiments in an ad hoc testbed, considering various data loss and transmission loss probabilities depending on the inter-vehicle distance. The results show that for the considered cases, the proposed strategy outperforms the linear extrapolation approach in terms of tracking and estimation error variances. Our results also show that the proposed strategy can achieve string stability for the mean and variance for both the tracking and estimation errors in scenarios where the basic extrapolation strategy cannot.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 2227-7390 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000947806100001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1768  
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Author Escobar, C.; Vargas, F.J.; Peters, A.A.; Carvajal, G. doi  openurl
  Title (down) A Cooperative Control Algorithm for Line and Predecessor Following Platoons Subject to Unreliable Distance Measurements Type
  Year 2023 Publication Mathematics Abbreviated Journal Mathematics  
  Volume 11 Issue 4 Pages 801  
  Keywords multi-agent systems; path-following; experimental platform; vehicle platooning; MIMO control  
  Abstract This paper uses a line-following approach to study the longitudinal and lateral problems in vehicle platooning. Under this setup, we assume that inter-vehicle distance sensing is unreliable and propose a cooperative control strategy to render the platoon less vulnerable to these sensing difficulties. The proposed control scheme uses the velocity of the predecessor vehicle, communicated through a Vehicle-to-Vehicle technology, to avoid significant oscillations in the local speed provoked by tracking using unreliable local distance measurements. We implement the proposed control algorithm in the RUPU platform, a low-cost experimental platform with wireless communication interfaces that enable the implementation of cooperative control schemes for mobile agent platooning. The experiments show the effectiveness of the proposed cooperative control scheme in maintaining a suitable performance even when subject to temporal distortions in local measurements, which, in the considered experimental setup, arise from losing the line-of-sight of the local sensors in paths with closed curves.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 2227-7390 ISBN Medium  
  Area Expedition Conference  
  Notes WOS:000941648500001 Approved  
  Call Number UAI @ alexi.delcanto @ Serial 1742  
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