Tele-operation of autonomous vehicles over additive white Gaussian noise channel

Parsa, A ; Sharif University of Technology | 2021

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  1. Type of Document: Article
  2. DOI: 10.24200/SCI.2020.54447.3755
  3. Publisher: Sharif University of Technology , 2021
  4. Abstract:
  5. This paper is concerned with the tele-operation of autonomous vehicles over analog Additive White Gaussian Noise (AWGN) channel, which is subject to transmission noise and power constraint. The nonlinear dynamic of autonomous vehicles is described by the unicycle model and is cascaded with a bandpass filter acting as encoder. Using the describing function method, the nonlinear dynamic of autonomous vehicles is represented by an approximate linear system. Then, the available results for linear control over analog AWGN channel are extended to account for linear continuous time systems with non-real valued and multiple real valued eigenvalues and for tracking a non-zero reference signal. Subsequently, by applying the extended results on the describing function of autonomous vehicles, a mean square control technique including an encoder, a decoder, and a controller is presented for reference tracking of the tele-operation of autonomous vehicles over AWGN channel. The satisfactory performance of the proposed control technique is illustrated by computer simulations. © 2021 Sharif University of Technology. All rights reserved
  6. Keywords:
  7. Additive noise ; Additives ; Bandpass filters ; Channel coding ; Continuous time systems ; Decoding ; Eigenvalues and eigenfunctions ; Gaussian noise (electronic) ; Linear control systems ; Linear systems ; Real time systems ; Signal encoding ; Vehicle transmissions ; White noise ; Additive white Gaussian noise channel ; Control techniques ; Describing function methods ; Linear continuous-time system ; Power constraints ; Reference-tracking ; Transmission noise ; Zero reference signals ; Autonomous vehicles ; Algorithm ; Automation ; Data processing ; Gaussian method
  8. Source: Scientia Iranica ; Volume 28, Issue 3 , 2021 , Pages 1592-1605 ; 10263098 (ISSN)
  9. URL: http://scientiairanica.sharif.edu/article_21782.html