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You searched for +publisher:"Delft University of Technology" +contributor:("Proskurnikov, Anton"). Showing records 1 – 2 of 2 total matches.

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Delft University of Technology

1. Krzesiński, Paweł (author). Decentralized CACC controllers for platoons of heterogeneous vehicles with uncertain dynamics.

Degree: 2017, Delft University of Technology

The capacity of public roads has become a serious problem all over the world. The traffic is constantly increasing, while the capacity remains almost the same. This causes traffic jams and road accidents. An effective way to increase the road throughput employs vehicular platoons, which allow to decrease inter-vehicle distances without compromising road safety. The urgent necessity to increase road capacity has lead to the substantial interest in Cooperative Adaptive Cruise Control (CACC), which uses measurements of on-board sensors and inter-vehicle communication to provide safe platooning. Numerous theoretical works and extensive experiments have proved that the possibility to exchange certain parameters via wireless communication allows for a significant decrease of the inter-vehicle distance. Cooperative Adaptive Cruise Control systems should comply with several requirements. One of the requirements is so-called string stability, which prevents amplification of disturbances, propagating along the string of vehicles. To simplify the design of CACC, vehicles in a platoon are often assumed to have identical and fully known dynamics. These assumptions in practice are too restrictive. The heterogeneity of vehicles increases the complexity of CACC controller design problem. In this master thesis a decentralized CACC algorithm is implemented based on continuous sliding-mode control and adaptation laws, which estimate uncertain vehicle’s parameters. Evaluation of Cooperative Adaptive Cruise Control algorithm has been conducted on a vehicle simulator DYNACAR. Advisors/Committee Members: Proskurnikov, Anton (mentor), Mazo Espinosa, Manuel (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: CACC; Simulation; Dynacar; Vehicle Platoon

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Krzesiński, P. (. (2017). Decentralized CACC controllers for platoons of heterogeneous vehicles with uncertain dynamics. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:13a80af8-14cc-4a79-894e-a50d40e9870b

Chicago Manual of Style (16th Edition):

Krzesiński, Paweł (author). “Decentralized CACC controllers for platoons of heterogeneous vehicles with uncertain dynamics.” 2017. Masters Thesis, Delft University of Technology. Accessed May 09, 2021. http://resolver.tudelft.nl/uuid:13a80af8-14cc-4a79-894e-a50d40e9870b.

MLA Handbook (7th Edition):

Krzesiński, Paweł (author). “Decentralized CACC controllers for platoons of heterogeneous vehicles with uncertain dynamics.” 2017. Web. 09 May 2021.

Vancouver:

Krzesiński P(. Decentralized CACC controllers for platoons of heterogeneous vehicles with uncertain dynamics. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 May 09]. Available from: http://resolver.tudelft.nl/uuid:13a80af8-14cc-4a79-894e-a50d40e9870b.

Council of Science Editors:

Krzesiński P(. Decentralized CACC controllers for platoons of heterogeneous vehicles with uncertain dynamics. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:13a80af8-14cc-4a79-894e-a50d40e9870b


Delft University of Technology

2. van den Bos, Pepijn (author). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.

Degree: 2018, Delft University of Technology

With the decrease in sensor and actuator costs decentralized control strategies have become increasingly attractive, aiming to use multiple simpler robots for achieving a global objective. The problem of reaching the global objective generally results in a consensus problem requiring communication amongst the agents. The cooperative manipulation problem, where a payload is manipulated using multiple robots, poses an attractive alternative: By using the payload's motion as the means of communication, the agents can reach consensus without using explicit communication. The advantage being that no additional bandwidth is required as the number of participating agents increases and all to all communication is effectively achieved. Whereas previous works considered only the translation dynamics this thesis work considers the use of the full rigid body motion as a means of communication, such that the agents reach consensus on the desired wrench and the payload is stabilized at any desired configuration. As a possible application the towing of a payload by multiple UAV via cables is considered. This brings the additional challenge of underactuation from the perspective of each agent, since only forces can be used to control the full payload's motion. The result is a decentralized nonlinear control law for the forces applied to a payload such that consensus is reached amongst the agents, the leader's control action is amplified and the payload is stabilized at any desired configuration. Proofs are constructed via Lyapunov arguments and the applicability of the control design to the aerial towing problem is validated in simulation. Advisors/Committee Members: Keviczky, Tamas (mentor), Vallery, Heike (mentor), Proskurnikov, Anton (mentor), Alonso Mora, Javier (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: decentralized control; aerial towing; cooperative manipulation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

van den Bos, P. (. (2018). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

Chicago Manual of Style (16th Edition):

van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Masters Thesis, Delft University of Technology. Accessed May 09, 2021. http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.

MLA Handbook (7th Edition):

van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Web. 09 May 2021.

Vancouver:

van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 May 09]. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.

Council of Science Editors:

van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

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