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Alberto Petrillo
Department of Information Technology and Electrical Engineering (DIETI), University of Naples Federico II, 80125 Naples, Italy

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Journal article
Published: 19 August 2021 in Energies
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This paper addresses the leader tracking problem for a platoon of heterogeneous autonomous connected fully electric vehicles where the selection of the inter-vehicle distance between adjacent vehicles plays a crucial role in energy consumption reduction. In this framework, we focused on the design of a cooperative driving control strategy able to let electric vehicles move as a convoy while keeping a variable energy-oriented inter-vehicle distance between adjacent vehicles which, depending on the driving situation, was reduced as much as possible to guarantee air-drag reduction, energy saving and collision avoidance. To this aim, by exploiting a distance-dependent air drag coefficient formulation, we propose a novel distributed nonlinear model predictive control (DNMPC) where the cost function was designed to ensure leader tracking performances, as well as to optimise the inter-vehicle distance with the aim of reducing energy consumption. Extensive simulation analyses, involving a comparative analysis with respect to the classical constant time headway (CTH) spacing policy, were performed to confirm the capability of the DNMPC in guaranteeing energy saving.

ACS Style

Bianca Caiazzo; Angelo Coppola; Alberto Petrillo; Stefania Santini. Distributed Nonlinear Model Predictive Control for Connected Autonomous Electric Vehicles Platoon with Distance-Dependent Air Drag Formulation. Energies 2021, 14, 5122 .

AMA Style

Bianca Caiazzo, Angelo Coppola, Alberto Petrillo, Stefania Santini. Distributed Nonlinear Model Predictive Control for Connected Autonomous Electric Vehicles Platoon with Distance-Dependent Air Drag Formulation. Energies. 2021; 14 (16):5122.

Chicago/Turabian Style

Bianca Caiazzo; Angelo Coppola; Alberto Petrillo; Stefania Santini. 2021. "Distributed Nonlinear Model Predictive Control for Connected Autonomous Electric Vehicles Platoon with Distance-Dependent Air Drag Formulation." Energies 14, no. 16: 5122.

Journal article
Published: 16 April 2021 in IEEE Access
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In this paper we consider the problem of restoring the voltage for stand-alone inverter-based Microgrids despite the effects of the time-delays arising with the information exchange among the electrical busses. To guarantee that all Distributed Generators (DGs) reach in a finite-time and maintain the voltage set-point, as imposed by a virtual DG acting as a leader, we suggest a novel robust networked-based control protocol that is also able to counteract both the time-varying communication delays and natural fluctuations caused by the primary controllers. The finite-time stability of the whole Microgrid is analytically proven by exploiting Lyapunov-Krasovskii theory and finite-time stability mathematical tools. In so doing, delay-dependent stability conditions are derived as a set of Linear Matrix Inequalities (LMIs), whose solution allows the proper tuning of the control gains such that the control objective is achieved with required transient and steady-state performances. A thorough numerical analysis is carried out on the IEEE 14-bus test system. Simulation results corroborate the analytical derivation and reveal both the effectiveness and the robustness of the suggested controller in ensuring the voltage restoration in finite-time in spite of the effects of time-varying communication delays.

ACS Style

Amedeo Andreotti; Bianca Caiazzo; Alberto Petrillo; Stefania Santini. Distributed Robust Finite-Time Secondary Control for Stand-Alone Microgrids With Time-Varying Communication Delays. IEEE Access 2021, 9, 59548 -59563.

AMA Style

Amedeo Andreotti, Bianca Caiazzo, Alberto Petrillo, Stefania Santini. Distributed Robust Finite-Time Secondary Control for Stand-Alone Microgrids With Time-Varying Communication Delays. IEEE Access. 2021; 9 ():59548-59563.

Chicago/Turabian Style

Amedeo Andreotti; Bianca Caiazzo; Alberto Petrillo; Stefania Santini. 2021. "Distributed Robust Finite-Time Secondary Control for Stand-Alone Microgrids With Time-Varying Communication Delays." IEEE Access 9, no. : 59548-59563.

Original research paper
Published: 13 March 2021 in IET Control Theory & Applications
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This paper addresses the time‐varying output formation‐containment control problem for homogeneous high‐order linear Multi‐Agent Systems (MASs). In this context, a PID‐like output‐feedback control strategy is proposed capable to guarantee that all followers reach and maintain a time‐varying formation reference behaviour, as imposed by the multiple leaders, while keeping a prescribed offset with respect to it. Moreover, the proposed approach allows dealing with both communication impairments and external disturbances acting on agents dynamics. The asymptotic stability of the closed‐loop MAS is analytically proved by means of a Lyapunov–Krasovskii approach. Stability conditions are expressed as a feasibility problem with Linear Matrix Inequalities constraints, whose solution provides the proper tuning of the robust PID control gains. Extensive numerical analysis confirms the theoretical framework and discloses the effectiveness of the proposed approach in ensuring the output time‐varying formation‐containment.

ACS Style

Gianmaria De Tommasi; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. A L2‐gain robust PID‐like protocol for time‐varying output formation‐containment of multi‐agent systems with external disturbance and communication delays. IET Control Theory & Applications 2021, 15, 1169 -1184.

AMA Style

Gianmaria De Tommasi, Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini. A L2‐gain robust PID‐like protocol for time‐varying output formation‐containment of multi‐agent systems with external disturbance and communication delays. IET Control Theory & Applications. 2021; 15 (9):1169-1184.

Chicago/Turabian Style

Gianmaria De Tommasi; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. 2021. "A L2‐gain robust PID‐like protocol for time‐varying output formation‐containment of multi‐agent systems with external disturbance and communication delays." IET Control Theory & Applications 15, no. 9: 1169-1184.

Journal article
Published: 09 December 2020 in Energies
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The Multiple Microgrids (MMGs) concept has been identified as a promising solution for the management of large-scale power grids in order to maximize the use of widespread renewable energies sources. However, its deployment in realistic operation scenarios is still an open issue due to the presence of non-ideal and unreliable communication systems that allow each component within the power network to share information about its state. Indeed, due to technological constraints, multiple time-varying communication delays consistently appear during data acquisition and the transmission process and their effects must be considered in the control design phase. To this aim, this paper addresses the voltage regulation control problem for MMGs systems in the presence of time-varying communication delays. To solve this problem, we propose a novel hierarchical two-layer distributed control architecture that accounts for the presence of communication latencies in the information exchange. More specifically, the upper control layer aims at guaranteeing a proper and economical reactive power dispatch among MMGs, while the lower control layer aims at ensuring voltage regulation of all electrical buses within each MG to the desired voltage set-point. By leveraging a proper Driver Generator Nodes Selection Algorithm, we first provide the best choice of generator nodes which, considering the upper layer control goal, speeds up the voltage synchronization process of all the buses within each MG to the voltage set-point computed by the upper-control layer. Then, the lower control layer, on the basis of this desired voltage value, drives the reactive power capability of each smart device within each MG and compensates for possible voltage deviations. Simulation analysis is carried out on the realistic case study of an MMGs system consisting of two identical IEEE 14-bus test systems and the numerical results disclose the effectiveness of the proposed control strategy, as well as its robustness with respect to load fluctuations.

ACS Style

Amedeo Andreotti; Bianca Caiazzo; Alberto Petrillo; Stefania Santini; Alfredo Vaccaro. Hierarchical Two-Layer Distributed Control Architecture for Voltage Regulation in Multiple Microgrids in the Presence of Time-Varying Delays. Energies 2020, 13, 6507 .

AMA Style

Amedeo Andreotti, Bianca Caiazzo, Alberto Petrillo, Stefania Santini, Alfredo Vaccaro. Hierarchical Two-Layer Distributed Control Architecture for Voltage Regulation in Multiple Microgrids in the Presence of Time-Varying Delays. Energies. 2020; 13 (24):6507.

Chicago/Turabian Style

Amedeo Andreotti; Bianca Caiazzo; Alberto Petrillo; Stefania Santini; Alfredo Vaccaro. 2020. "Hierarchical Two-Layer Distributed Control Architecture for Voltage Regulation in Multiple Microgrids in the Presence of Time-Varying Delays." Energies 13, no. 24: 6507.

Journal article
Published: 16 November 2020 in Journal of the Franklin Institute
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In this paper, the containment control problem of heterogeneous uncertain high-order linear Multi-Agent Systems (MASs) is addressed and solved via a novel fully-Distributed Model Reference Adaptive Control (DMRAC) approach, where each follower computes its adaptive control action on the basis of local measurements, information shared with neighbors (within the communication range) and the matching errors w.r.t. its own reference model, without requiring any previous knowledge of the global directed communication topology structure. The approach inherits the robustness of the direct model reference adaptive control (MRAC) scheme and allows all agents converging towards the convex hull spanned by leaders while fulfilling at the same time local additional performance requirements at single-agent level, such as prescribed settling time, overshoot, etc. The asymptotic stability of the whole closed-loop network is analytically derived by exploiting the Lyapunov theory and the Barbalat lemma, hence proving that each follower converges to the convex hull spanned by the leaders, as well as the boundedness of the adaptive gains. Extensive numerical analysis for heterogeneous MAS composed of stable, unstable and oscillating agent dynamics are presented to validate the theoretical framework and to confirm the effectiveness of the proposed approach.

ACS Style

Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. Distributed model reference adaptive containment control of heterogeneous multi-agent systems with unknown uncertainties and directed topologies. Journal of the Franklin Institute 2020, 358, 737 -756.

AMA Style

Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini. Distributed model reference adaptive containment control of heterogeneous multi-agent systems with unknown uncertainties and directed topologies. Journal of the Franklin Institute. 2020; 358 (1):737-756.

Chicago/Turabian Style

Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. 2020. "Distributed model reference adaptive containment control of heterogeneous multi-agent systems with unknown uncertainties and directed topologies." Journal of the Franklin Institute 358, no. 1: 737-756.

Journal article
Published: 10 November 2020 in IEEE/ACM Transactions on Networking
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Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only. Nonetheless, issues typically related to wireless networking must be taken into account when designing safe and reliable autonomous systems. The aim of this work is to present a control algorithm and a communication paradigm over 5G networks for negotiating traffic junctions in urban areas. The proposed control framework has been shown to converge in a finite time and the supporting communication software has been designed with the objective of minimizing communication delays. At the same time, the underlying network guarantees reliability of the communication. The proposed framework has been successfully deployed and tested, in partnership with Ericsson AB, at the AstaZero proving ground in Goteborg, Sweden. In our experiments, three heterogeneous autonomous vehicles successfully drove through a 4-way intersection of 235 square meters in an urban scenario.

ACS Style

Luca Maria Castiglione; Paolo Falcone; Alberto Petrillo; Simon Pietro Romano; Stefania Santini. Cooperative Intersection Crossing Over 5G. IEEE/ACM Transactions on Networking 2020, 29, 303 -317.

AMA Style

Luca Maria Castiglione, Paolo Falcone, Alberto Petrillo, Simon Pietro Romano, Stefania Santini. Cooperative Intersection Crossing Over 5G. IEEE/ACM Transactions on Networking. 2020; 29 (1):303-317.

Chicago/Turabian Style

Luca Maria Castiglione; Paolo Falcone; Alberto Petrillo; Simon Pietro Romano; Stefania Santini. 2020. "Cooperative Intersection Crossing Over 5G." IEEE/ACM Transactions on Networking 29, no. 1: 303-317.

Journal article
Published: 04 July 2020 in Information Sciences
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This paper addresses the leader-tracking and the containment control problems for heterogeneous high-order Multi-Agent Systems (MASs) sharing information through a directed communication topology. To solve both the control problems, a fully-distributed Proportional-Integral-Derivative (PID) control strategy is proposed, whose stability is analytically proven by exploiting the regulator equations and the Static Output Feedback (SOF) procedure adapted to the MASs framework. The application of SOF allows recasting the PID control design problem into a state-feedback control design one and, hence, finding the proper values of the proportional, integral and derivative actions via classical state-feedback approaches, such as the Linear-Quadratic-Regulator (LQR) strategy. Numerical simulations confirm the effectiveness of the proposed approach in guaranteeing that each follower tracks the leader behavior in the case of leader-tracking and that each follower converges to the convex hull spanned by the multiple leaders in the case of containment control.

ACS Style

Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. An optimal distributed PID-like control for the output containment and leader-following of heterogeneous high-order multi-agent systems. Information Sciences 2020, 541, 166 -184.

AMA Style

Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini. An optimal distributed PID-like control for the output containment and leader-following of heterogeneous high-order multi-agent systems. Information Sciences. 2020; 541 ():166-184.

Chicago/Turabian Style

Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. 2020. "An optimal distributed PID-like control for the output containment and leader-following of heterogeneous high-order multi-agent systems." Information Sciences 541, no. : 166-184.

Research article
Published: 24 January 2020 in Journal of Vibration and Control
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This study addresses the possibility of adopting semi-active magnetorheological elastomers–based isolators for protecting lightweight structures from ground vibration. The exploitation of these smart devices has the main advantage of controlling their stiffness and damping features by acting on the magnetic field generated by a coil on the basis of the actual conditions of both the lightweight structure and the surrounding environment. This allows for combining the reliability of passive devices with the benefits of active control methods. Both mechanical and control system designs could play a crucial role in the challenging problem of improving isolation performances. To solve this issue, we (i) suggest a novel ball transfer unit–magnetorheological elastomer–based isolation system prototype to obtain an improved isolation response of the lightweight structure with respect to the exclusive use of an magnetorheological elastomer and (ii) propose a novel robust combined neural network and model-predictive control approach, allowing proper functioning of the ball transfer unit–magnetorheological elastomer–based isolation system. The effectiveness of the proposed semi-active isolator in guaranteeing vibrational isolation of lightweight structures is evaluated by considering a rack cabinet composed of three storeys and subject to an El Centro earthquake. Numerical simulations confirm and disclose the efficacy of the proposed approach.

ACS Style

Renato Brancati; Giandomenico Di Massa; Stefano Pagano; Alberto Petrillo; Stefania Santini. A combined neural network and model predictive control approach for ball transfer unit–magnetorheological elastomer–based vibration isolation of lightweight structures. Journal of Vibration and Control 2020, 26, 1 .

AMA Style

Renato Brancati, Giandomenico Di Massa, Stefano Pagano, Alberto Petrillo, Stefania Santini. A combined neural network and model predictive control approach for ball transfer unit–magnetorheological elastomer–based vibration isolation of lightweight structures. Journal of Vibration and Control. 2020; 26 (19-20):1.

Chicago/Turabian Style

Renato Brancati; Giandomenico Di Massa; Stefano Pagano; Alberto Petrillo; Stefania Santini. 2020. "A combined neural network and model predictive control approach for ball transfer unit–magnetorheological elastomer–based vibration isolation of lightweight structures." Journal of Vibration and Control 26, no. 19-20: 1.

Journal article
Published: 23 January 2020 in IEEE Transactions on Cybernetics
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The development of autonomous connected vehicles, moving as a platoon formation, is a hot topic in the intelligent transportation system (ITS) research field. It is on the road and deployment requires the design of distributed control strategies, leveraging secure vehicular ad-hoc networks (VANETs). Indeed, wireless communication networks can be affected by various security vulnerabilities and cyberattacks leading to dangerous implications for cooperative driving safety. Control design can play an important role in providing both resilience and robustness to vehicular networks. To this aim, in this article, we tackle and solve the problem of cyber-secure tracking for a platoon that moves as a cohesive formation along a single lane undergoing different kinds of cyber threats, that is, application layer and network layer attacks, as well as network induced phenomena. The proposed cooperative approach leverages an adaptive synchronization-based control algorithm that embeds a distributed mitigation mechanism of malicious information. The closed-loop stability is analytically demonstrated by using the Lyapunov-Krasovskii theory, while its effectiveness in coping with the most relevant type of cyber threats is disclosed by using PLEXE, a high fidelity simulator which provides a realistic simulation of cooperative driving systems.

ACS Style

Alberto Petrillo; Antonio Pescape; Stefania Santini. A Secure Adaptive Control for Cooperative Driving of Autonomous Connected Vehicles in the Presence of Heterogeneous Communication Delays and Cyberattacks. IEEE Transactions on Cybernetics 2020, 51, 1134 -1149.

AMA Style

Alberto Petrillo, Antonio Pescape, Stefania Santini. A Secure Adaptive Control for Cooperative Driving of Autonomous Connected Vehicles in the Presence of Heterogeneous Communication Delays and Cyberattacks. IEEE Transactions on Cybernetics. 2020; 51 (3):1134-1149.

Chicago/Turabian Style

Alberto Petrillo; Antonio Pescape; Stefania Santini. 2020. "A Secure Adaptive Control for Cooperative Driving of Autonomous Connected Vehicles in the Presence of Heterogeneous Communication Delays and Cyberattacks." IEEE Transactions on Cybernetics 51, no. 3: 1134-1149.

Journal article
Published: 01 January 2020 in IFAC-PapersOnLine
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In this paper we present a distributed PI-based control law that guarantees the platoon formation to track leader velocity with a pre-fixed inter-vehicular distance, when vehicles are heterogeneous in both parameters and nonlinear drivetrain dynamics. Moreover, differently from most of the approaches in the literature, the proposed PI protocol intrinsically compensates for the nonlinear, heterogeneous and uncertain drivetrain dynamics without requiring any feedforward control action. We formulate sufficient conditions for closed-loop heterogeneous non-linear vehicular network stability that can be used to tune the PI control parameters. Simulation results confirm the effectiveness of the proposed PI controller in both nominal and uncertain platooning scenario.

ACS Style

Sabato Manfredi; Alberto Petrillo; Stefania Santini. Distributed PI Control For Heterogeneous Nonlinear Platoon of Autonomous Connected Vehicles. IFAC-PapersOnLine 2020, 53, 15229 -15234.

AMA Style

Sabato Manfredi, Alberto Petrillo, Stefania Santini. Distributed PI Control For Heterogeneous Nonlinear Platoon of Autonomous Connected Vehicles. IFAC-PapersOnLine. 2020; 53 (2):15229-15234.

Chicago/Turabian Style

Sabato Manfredi; Alberto Petrillo; Stefania Santini. 2020. "Distributed PI Control For Heterogeneous Nonlinear Platoon of Autonomous Connected Vehicles." IFAC-PapersOnLine 53, no. 2: 15229-15234.

Journal article
Published: 03 December 2019 in Electronics
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Modern power distribution systems require reliable, self-organizing and highly scalable voltage control systems, which should be able to promptly compensate the voltage fluctuations induced by intermittent and non-programmable generators. However, their deployment in realistic operation scenarios is still an open issue due, for example, to the presence of non-ideal and unreliable communication systems that allow each component within the power network to share information about its state. Indeed, due to technological constraints, time-delays in data acquisition and transmission are unavoidable and their effects have to be taken into account in the control design phase. To this aim, in this paper, we propose a fully distributed cooperative control protocol allowing the voltage control to be achieved despite the presence of heterogeneous time-varying latencies. The idea is to exploit the distributed intelligence along the network, so that it is possible to bring out an optimal global behavior via cooperative distributed control action that leverages both local and the outdated information shared among the devices within the power network. Detailed simulation results obtained on the realistic case study of the IEEE 30-bus test system are presented and discussed in order to prove the effectiveness of the proposed approach in the task of solving complex voltage control problems. Finally, a robustness analysis with respect to both loads variations and hard communication delays was also carried to disclose the efficiency of the approach.

ACS Style

Amedeo Andreotti; Bianca Caiazzo; Alberto Petrillo; Stefania Santini; Alfredo Vaccaro. Decentralized Smart Grid Voltage Control by Synchronization of Linear Multiagent Systems in the Presence of Time-Varying Latencies. Electronics 2019, 8, 1470 .

AMA Style

Amedeo Andreotti, Bianca Caiazzo, Alberto Petrillo, Stefania Santini, Alfredo Vaccaro. Decentralized Smart Grid Voltage Control by Synchronization of Linear Multiagent Systems in the Presence of Time-Varying Latencies. Electronics. 2019; 8 (12):1470.

Chicago/Turabian Style

Amedeo Andreotti; Bianca Caiazzo; Alberto Petrillo; Stefania Santini; Alfredo Vaccaro. 2019. "Decentralized Smart Grid Voltage Control by Synchronization of Linear Multiagent Systems in the Presence of Time-Varying Latencies." Electronics 8, no. 12: 1470.

Articles
Published: 04 November 2019 in International Journal of Control
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This paper addresses the leader-tracking problem of high-order nonlinear Lipschitz agents sharing their state information through a delayed communication network. The multiple delays associated to each communication link are considered as time-varying functions. The problem is solved through a fully distributed adaptive protocol on the basis of a node-based local adaptation method that is independent of any global information and does not require any knowledge or estimation of the nonlinear agent dynamics. The stability of the closed-loop delayed Multi-Agent System (MAS) is proven to leverage the Lyapunov-Krasovskii approach combined with the Barbalat's Lemma. Stability conditions are expressed as a set of feasible Linear Matrix Inequalities (LMIs) derived via the free weighted matrices method. Exemplary numerical simulations confirm the effectiveness of the theoretical results.

ACS Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. Distributed leader-tracking adaptive control for high-order nonlinear Lipschitz multi-agent systems with multiple time-varying communication delays. International Journal of Control 2019, 94, 1880 -1892.

AMA Style

Giovanni Fiengo, Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini. Distributed leader-tracking adaptive control for high-order nonlinear Lipschitz multi-agent systems with multiple time-varying communication delays. International Journal of Control. 2019; 94 (7):1880-1892.

Chicago/Turabian Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. 2019. "Distributed leader-tracking adaptive control for high-order nonlinear Lipschitz multi-agent systems with multiple time-varying communication delays." International Journal of Control 94, no. 7: 1880-1892.

Journal article
Published: 07 August 2019 in IEEE Transactions on Vehicular Technology
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This paper presents a fully distributed interaction protocol for connected self-driving cars negotiating the access a traffic junction. The vehicles coordination has been reformulated as an equivalent virtual platoon control problem. The desired vehicles spacing within the platoon is chosen so to avoid side and rear-end collisions and is controlled by a cooperative non-linear control algorithm, based on potential functions. The asymptotic stability of the closed-loop system has been analytically proved by leveraging the LaSalle's Invariance Principle. The analysis of the convergence rate has resulted in an effective tuning tool ensuring that the desired formation is achieved before vehicles reach the intersection. Most notably, results from an in-vehicle experimental validation are presented. The experiments were carried out on three self-driving cars connected through a V2V communication infrastructure based on the IEEE 802.11p protocol. The experimental results confirm the theoretical analysis and reveal the effectiveness of the control approach for autonomously and safely negotiating a generic traffic junction.

ACS Style

Marco Di Vaio; Paolo Falcone; Robert Hult; Alberto Petrillo; Alessandro Salvi; Stefania Santini. Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersection. IEEE Transactions on Vehicular Technology 2019, 68, 9451 -9465.

AMA Style

Marco Di Vaio, Paolo Falcone, Robert Hult, Alberto Petrillo, Alessandro Salvi, Stefania Santini. Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersection. IEEE Transactions on Vehicular Technology. 2019; 68 (10):9451-9465.

Chicago/Turabian Style

Marco Di Vaio; Paolo Falcone; Robert Hult; Alberto Petrillo; Alessandro Salvi; Stefania Santini. 2019. "Design and Experimental Validation of a Distributed Interaction Protocol for Connected Autonomous Vehicles at a Road Intersection." IEEE Transactions on Vehicular Technology 68, no. 10: 9451-9465.

Journal article
Published: 10 April 2019 in Energies
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The large-scale integration of renewable power generators in power grids may cause complex technical issues, which could hinder their hosting capacity. In this context, the mitigation of the grid voltage fluctuations represents one of the main issues to address. Although different control paradigms, based on both local and global computing, could be deployed for online voltage regulation in active power networks, the identification of the most effective approach, which is influenced by the available computing resources, and the required control performance, is still an open problem. To face this issue, in this paper, the mathematical backbone, the expected performance, and the architectural requirements of a novel decentralized control paradigm based on dynamic agents are analyzed. Detailed simulation results obtained in a realistic case study are presented and discussed to prove the effectiveness and the robustness of the proposed method.

ACS Style

Amedeo Andreotti; Alberto Petrillo; Stefania Santini; Alfredo Vaccaro; Domenico Villacci. A Decentralized Architecture Based on Cooperative Dynamic Agents for Online Voltage Regulation in Smart Grids. Energies 2019, 12, 1386 .

AMA Style

Amedeo Andreotti, Alberto Petrillo, Stefania Santini, Alfredo Vaccaro, Domenico Villacci. A Decentralized Architecture Based on Cooperative Dynamic Agents for Online Voltage Regulation in Smart Grids. Energies. 2019; 12 (7):1386.

Chicago/Turabian Style

Amedeo Andreotti; Alberto Petrillo; Stefania Santini; Alfredo Vaccaro; Domenico Villacci. 2019. "A Decentralized Architecture Based on Cooperative Dynamic Agents for Online Voltage Regulation in Smart Grids." Energies 12, no. 7: 1386.

Journal article
Published: 25 March 2019 in IEEE/ASME Transactions on Mechatronics
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The paper addresses the leader tracking problem for a platoon of connected autonomous vehicles in the presence of both homogeneous time-varying parameter uncertainties and Vehicle-to-Vehicle time-varying communication delay. To this aim, leveraging the Multi-Agent Systems (MAS) framework, a novel distributed robust PID control is proposed. The stability of the cohesive formation is analytically proved with a Lyapunov-Krasovskii approach by exploiting the descriptor transformation for time-delayed systems of neutral type. The delay-dependent robust stability conditions are expressed as a set of Linear Matrix Inequalities allowing the proper tuning of the proportional, integral and derivative actions implemented on each of the vehicles within the fleet. Extensive simulation analysis in different driving scenarios confirms the effectiveness of the theoretical derivation.

ACS Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini; Manuela Tufo. Distributed Robust PID Control For Leader Tracking in Uncertain Connected Ground Vehicles With V2V Communication Delay. IEEE/ASME Transactions on Mechatronics 2019, 24, 1153 -1165.

AMA Style

Giovanni Fiengo, Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini, Manuela Tufo. Distributed Robust PID Control For Leader Tracking in Uncertain Connected Ground Vehicles With V2V Communication Delay. IEEE/ASME Transactions on Mechatronics. 2019; 24 (3):1153-1165.

Chicago/Turabian Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini; Manuela Tufo. 2019. "Distributed Robust PID Control For Leader Tracking in Uncertain Connected Ground Vehicles With V2V Communication Delay." IEEE/ASME Transactions on Mechatronics 24, no. 3: 1153-1165.

Research article
Published: 01 January 2019 in IET Control Theory & Applications
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This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional–integral–derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov–Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.

ACS Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. Distributed robust output consensus for linear multi‐agent systems with input time‐varying delays and parameter uncertainties. IET Control Theory & Applications 2019, 13, 203 -212.

AMA Style

Giovanni Fiengo, Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini. Distributed robust output consensus for linear multi‐agent systems with input time‐varying delays and parameter uncertainties. IET Control Theory & Applications. 2019; 13 (2):203-212.

Chicago/Turabian Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini. 2019. "Distributed robust output consensus for linear multi‐agent systems with input time‐varying delays and parameter uncertainties." IET Control Theory & Applications 13, no. 2: 203-212.

Conference paper
Published: 01 December 2018 in 2018 IEEE Conference on Decision and Control (CDC)
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This paper addresses the robust cooperative leader tracking problem for a platoon of connected autonomous vehicles in the presence of both multiple Vehicle-to-Vehicle (V2V) time-varying communication delays and external disturbances. To tackle this issue, a distributed adaptive protocol is proposed, that exploits shared information among connected vehicles to achieve leader synchronization. The robust stability of the closed-loop delayed network is proven via Lyapunov-Krasovskii theory. Delay-dependent linear matrix inequalities (LMIs) conditions are analytically derived for ensuring both robust synchronization to the leader dynamics and disturbances attenuation. An exemplar driving maneuver is considered for evaluating the robustness of the performance achieved by vehicles platoon and the numerical results confirm the effectiveness of the theoretical derivation.

ACS Style

Marco Di Vaio; Alberto Petrillo; Stefania Santini. On the Robustness of a Distributed Adaptive Synchronization Protocol for Connected Autonomous Vehicles with Multiple Disturbances and Communication Delays. 2018 IEEE Conference on Decision and Control (CDC) 2018, 3622 -3627.

AMA Style

Marco Di Vaio, Alberto Petrillo, Stefania Santini. On the Robustness of a Distributed Adaptive Synchronization Protocol for Connected Autonomous Vehicles with Multiple Disturbances and Communication Delays. 2018 IEEE Conference on Decision and Control (CDC). 2018; ():3622-3627.

Chicago/Turabian Style

Marco Di Vaio; Alberto Petrillo; Stefania Santini. 2018. "On the Robustness of a Distributed Adaptive Synchronization Protocol for Connected Autonomous Vehicles with Multiple Disturbances and Communication Delays." 2018 IEEE Conference on Decision and Control (CDC) , no. : 3622-3627.

Conference paper
Published: 01 November 2018 in 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)
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Virtual Coupling adds to Automatic Train Control (ATC) systems the further functionality of being able to virtually connect two or more trains, so drastically reducing their headways and increasing line capacity. For this reason it is considered among the most relevant innovations to be researched within the European Horizon 2020 Shift2Rail Joint Undertaking. Indeed, Virtual Coupling also introduces some critical issues related to potential hazards as well as strict requirements on tolerated latency associated to the channels used for train-to-trackside and train-to-train communications. In this paper, we introduce Virtual Coupling in the context of a standard ATC, that is ERTMS/ETCS. Considering a reference ATC simplifies the discussion about implementation and performance issues. We will provide some preliminary hints, models and results and draw conclusions about required safety analyses and future developments.

ACS Style

Francesco Flammini; Stefano Marrone; Roberto Nardone; Alberto Petrillo; Stefania Santini; Valeria Vittorini. Towards Railway Virtual Coupling. 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC) 2018, 1 -6.

AMA Style

Francesco Flammini, Stefano Marrone, Roberto Nardone, Alberto Petrillo, Stefania Santini, Valeria Vittorini. Towards Railway Virtual Coupling. 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC). 2018; ():1-6.

Chicago/Turabian Style

Francesco Flammini; Stefano Marrone; Roberto Nardone; Alberto Petrillo; Stefania Santini; Valeria Vittorini. 2018. "Towards Railway Virtual Coupling." 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC) , no. : 1-6.

Conference paper
Published: 01 November 2018 in 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)
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This paper presents a design optimization for an electrical kart that will be used in sport racing competitions. This work is carried out within the project "E-Kart", sponsored by University of Naples Federico II, that consists in developing integrated high-tech devices for the design and implementation of electrical drive using high density of Lithium Ion Batteries Technology. The aim of paper is the preliminary sizing of the main components of electrical drives for satisfying the performance requirements in terms of minimizing time lap, considering constraints like maximum speed for lap, maximum weight of battery systems and dynamic force of racetrack (e.g. curve and straight). The paper shows the optimal design procedure on basis of fixed racetrack identifying the speed profile, output mechanical power to the wheel and kWh of Energy Storage Device.

ACS Style

Diego Iannuzzi; Stefania Santini; Alberto Petrillo; Procolo Ivan Borrino. Design Optimization of Electric Kart for Racing Sport Application. 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC) 2018, 1 -6.

AMA Style

Diego Iannuzzi, Stefania Santini, Alberto Petrillo, Procolo Ivan Borrino. Design Optimization of Electric Kart for Racing Sport Application. 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC). 2018; ():1-6.

Chicago/Turabian Style

Diego Iannuzzi; Stefania Santini; Alberto Petrillo; Procolo Ivan Borrino. 2018. "Design Optimization of Electric Kart for Racing Sport Application." 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC) , no. : 1-6.

Conference paper
Published: 01 June 2018 in 2018 26th Mediterranean Conference on Control and Automation (MED)
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In this paper, the leader tracking problem for a platoon of connected vehicles in presence of homogeneous time-varying Vehicle-to-Vehicle communication delays is addressed. To this aim, the platoon is recast as a network of multiagent systems and consensus is achieved by leveraging a delayed distributed strategy that complements the standard linear diffusive control protocol with additional distributed integral and derivative actions. The asymptotic stability of the closed-loop delayed system is hence analytically proven by exploiting the Lyapunov-Krasovskii theory. Stability conditions are expressed as a set of Linear Matrix Inequalities, whose solution allows the proper tuning of proportional, derivative and integral gains such as to counteract the presence of the time-varying input delay. An exemplar tracking maneuver is considered for evaluating the performance of a connected vehicles fleet and the numerical results confirm the effectiveness of the theoretical derivation.

ACS Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini; Manuela Tufo. Distributed Leader-Tracking for Autonomous Connected Vehicles in Presence of Input Time-Varying Delay. 2018 26th Mediterranean Conference on Control and Automation (MED) 2018, 1 -6.

AMA Style

Giovanni Fiengo, Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini, Manuela Tufo. Distributed Leader-Tracking for Autonomous Connected Vehicles in Presence of Input Time-Varying Delay. 2018 26th Mediterranean Conference on Control and Automation (MED). 2018; ():1-6.

Chicago/Turabian Style

Giovanni Fiengo; Dario Giuseppe Lui; Alberto Petrillo; Stefania Santini; Manuela Tufo. 2018. "Distributed Leader-Tracking for Autonomous Connected Vehicles in Presence of Input Time-Varying Delay." 2018 26th Mediterranean Conference on Control and Automation (MED) , no. : 1-6.