Petrillo, Alberto
(2018)
Cooperative control of autonomous connected vehicles from a Networked Control perspective: Theory and experimental validation.
[Tesi di dottorato]
| Tipologia del documento: |
Tesi di dottorato
|
| Lingua: |
English |
| Titolo: |
Cooperative control of autonomous connected vehicles from a Networked Control perspective: Theory and experimental validation |
| Autori: |
| Autore | Email |
|---|
| Petrillo, Alberto | alberto.petrillo@unina.it |
|
| Data: |
8 Dicembre 2018 |
| Numero di pagine: |
198 |
| Istituzione: |
Università degli Studi di Napoli Federico II |
| Dipartimento: |
Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| Dottorato: |
Information technology and electrical engineering |
| Ciclo di dottorato: |
31 |
| Coordinatore del Corso di dottorato: |
| nome | email |
|---|
| Riccio, Daniele | daniele.riccio@unina.it |
|
| Tutor: |
| nome | email |
|---|
| Santini, Stefania | [non definito] |
|
| Data: |
8 Dicembre 2018 |
| Numero di pagine: |
198 |
| Parole chiave: |
Autonomous Connected Vehicles; Networked Control Systems; Cooperative control ; time delays; communication impairments; cyber attacks. |
| Settori scientifico-disciplinari del MIUR: |
Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
[error in script]
[error in script]
| Depositato il: |
22 Gen 2019 21:52 |
| Ultima modifica: |
27 Giu 2020 05:10 |
| URI: |
http://www.fedoa.unina.it/id/eprint/12513 |
Abstract
Formation control of autonomous connected vehicles is one of the typical problems addressed in the general context of networked control systems. By leveraging this paradigm, a platoon composed by multiple connected and automated vehicles is represented as one-dimensional network of dynamical agents, in which each agent only uses its neighboring information to locally control its motion, while it aims to achieve certain global coordination with all other agents. Within this theoretical framework, control algorithms are traditionally designed based on an implicit assumption of unlimited bandwidth and perfect communication environments. However, in practice, wireless communication networks, enabling the cooperative driving applications, introduce unavoidable communication impairments such as transmission delay and packet losses that strongly affect the performances of cooperative driving. Moreover, in addition to this problem, wireless communication networks can suffer different security threats. The challenge in the control field is hence to design cooperative control algorithms that are robust to communication impairments and resilient to cyber attacks. The work aim is to tackle and solve these challenges by proposing different properly designed control strategies. They are validated both in analytical, numerical and experimental ways. Obtained results confirm the effectiveness of the strategies in coping with communication impairments and security vulnerabilities.
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