1,829 research outputs found
Advanced Control of Multiagent Automotive Systems
No full textThe latest improvements in automotive technologies are enabling a paradigm shift in transportation systems: shared mobility, electrification, connectivity, and autonomous driving are envisaged as the four major trends in the near future. To support these advancements, advanced control strategies are required for the control of both single vehicles and formations of Connected and Automated Vehicles (CAVs). These, in turn, lead to beneficial features such as greater safety, improved efficiency, and better exploitation of the traffic infrastructure. Autonomously controlled vehicles can exhibit advanced performances which determine an improved safety even in cases where the distances are tight, while the inter-vehicle communication opens a huge number of new possibilities. Among others, unidimensional and bidimensional formations can be employed as dynamic actuators in traffic control.
In this Dissertation a discussion about advanced control techniques for multi-agent automotive systems is provided, proposing novel research results. Starting from a brief introduction to the control of single vehicles (in which electric and hybrid vehicles opened a broad range of new possibilities), the discussion is then extended to the robust control of platoons via the exploitation of Sliding Mode Control techniques. Lastly, an extension to the formation control case is examined, presenting a novel iterative method for the creation and dynamic reshape of formations in highway scenarios.The latest improvements in automotive technologies are enabling a paradigm shift in transportation systems: shared mobility, electrification, connectivity, and autonomous driving are envisaged as the four major trends in the near future. To support these advancements, advanced control strategies are required for the control of both single vehicles and formations of Connected and Automated Vehicles (CAVs). These, in turn, lead to beneficial features such as greater safety, improved efficiency, and better exploitation of the traffic infrastructure. Autonomously controlled vehicles can exhibit advanced performances which determine an improved safety even in cases where the distances are tight, while the inter-vehicle communication opens a huge number of new possibilities. Among others, unidimensional and bidimensional formations can be employed as dynamic actuators in traffic control.
In this Dissertation a discussion about advanced control techniques for multi-agent automotive systems is provided, proposing novel research results. Starting from a brief introduction to the control of single vehicles (in which electric and hybrid vehicles opened a broad range of new possibilities), the discussion is then extended to the robust control of platoons via the exploitation of Sliding Mode Control techniques. Lastly, an extension to the formation control case is examined, presenting a novel iterative method for the creation and dynamic reshape of formations in highway scenarios
Linearization-Based Integral Sliding Mode Control for a Class of Constrained Nonlinear Systems
No full textSecond-Order Sliding Modes Generation for Robust Disturbance String Stable Platoon Control
No full textSliding Modes in Consensus Control
No full textIn this chapter, an overview of the possibility of applying Sliding Mode Control to Consensus Control problems is proposed. The theoretical concepts at the basis of Consensus Control are first introduced to form a common basis useful to understand the results currently available in the literature, which are here adapted when needed to achieve a uniform notation. Then, some works proposing the generation of Sliding Modes for the achievement of leaderless and leader-follower consensus are reported with the aim of giving to the reader a clearer idea of the available possibilities. Effort is made to highlight the benefits of adopting such an approach, which reside generally in robustness and finite-time convergence
La doppia vita della Fototeca Zeri. O sulla necessità di non abbandonare i ferri del mestiere dello storico dell’arte, ma di farne buona manutenzione, usando bene anche quelli nuovi
No full textIl test Eco-dobutamina nella identificazione precoce del miocardio vitale in pazienti con IMA.
No full text
Integral Second-Order Sliding Modes for Robust Prescribed-Time Leader-Follower Consensus Control with Partial Information
No full textIn this paper, the possibility of generating second order integral sliding modes for the robust finite-time solution of leader-follower consensus problems in cooperative multi-agent systems (MAS) is presented. A novel approach is discussed for agents with first or second order dynamics, able to enforce convergence exploiting only partial information (i.e. the relative distance between the first state of each agent and those of its neighbours) under the assumption that the network graph contains a directed spanning tree. The adoption of integral sliding manifolds allows for the elimination of the reaching phase, which in turn guarantees robustness from the initial time instant, and consensus reaching in prescribed time. Chattering alleviation is discussed in order to obtain a continuous control. The proposal is analysed both in theory and simulation, where the obtained results highlight the validity of the strategy
Recuerdos de Massimo.
No full textEl presente ensayo recuerda la rica relación personal e intelectual entre Massimo Pavarini e Iñaki Rivera Beiras desde que el segundo conoció siendo muy joven a Pavarini. En ese sentido, el trabajo recuerda los inicios de su fecunda relación en la ciudad de Bologna cuando Iñaki Rivera acudía a presentar a Massimo Pavarini los desarrollos de lo que sería su tesis doctoral. Las contribuciones de Pavarini al proceso de aprendizaje de Rivera, en el terreno de una epistemología crítica en la penología contemporánea, son analizados como un homenaje a la memoria y a la obra del autor italiano, tras su fallecimiento en septiembre de 2015.This paper recalls the rich personal and intellectual relationship between Massimo Pavarini and Iñaki Rivera Beiras. In that sense , the work recalls the beginning of his fruitful relationship in the city of Bologna when Iñaki Rivera came to present Massimo Pavarini’ developments in what would be his PhD thesis. Pavarini contributions to the learning process of Rivera, on the ground of a critical epistemology in contemporary penology , are analyzed as a tribute to the memory and to the work of Italian author, after his death in September 2015 .El presente ensayo recuerda la rica relación personal e intelectual entre Massimo Pavarini e Iñaki Rivera Beiras desde que el segundo conoció siendo muy joven a Pavarini. En ese sentido, el trabajo recuerda los inicios de su fecunda relación en la ciudad de Bologna cuando Iñaki Rivera acudía a presentar a Massimo Pavarini los desarrollos de lo que sería su tesis doctoral. Las contribuciones de Pavarini al proceso de aprendizaje de Rivera, en el terreno de una epistemología crítica en la penología contemporánea, son analizados como un homenaje a la memoria y a la obra del autor italiano, tras su fallecimiento en septiembre de 2015
Group of Italian railroad workers who worked on the New York, Texas, and Mexican Railroad
No full textPhotograph shows the group posed around table with beer mugs. Clockwise from top center: Ignarzo Toss; Giacomo Zandonatti; Giacomo Zambelli; Antonio Bartoni; Massimo Tasin; and Eugenio Depine. Bartoni was a stonecutter as was Tasin
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