Forward Completeness in Open Sets and Applications to Control of Automated Vehicles

• 成果类型: Article
• 署名作者: Karafyllis, Iasson; Theodosis, Dionysios; Papageorgiou, Markos
• 署名单位: National Technical University of Athens; Technical University of Crete; Ningbo University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3481958
• 发表日期: 2025
• 页码: 2406-2421
• 关键词: Roads; vectors; Autonomous Vehicles; Aerospace electronics; Space vehicles; Europe; Collision avoidance; Weaving; Vehicle dynamics; transportation; Autonomous 2-D movement; forward completeness; lane-free automated driving; Lyapunov-like functions; state constraints; systems on open sets

摘要

Forward complete systems are guaranteed to have solutions that exist globally for all positive time. In this article, a relaxed Lyapunov-like condition for forward completeness is presented for finite-dimensional systems defined on open sets that does not require boundedness of the Lyapunov-like function along the solutions of the system but an exponential growth condition. The corresponding condition is then exploited for the design of autonomous 2-D movement, with focus on lane-free cruise controllers for automated vehicles described by the bicycle kinematic model. The derived feedback laws (cruise controllers) are decentralized and can account for collision avoidance, roads of variable width, on-ramps and off-ramps as well as different desired speed for each vehicle.