Intelligent control systems.

In this research, a wind feedforward (FF) controller has been developed to augment closed loop feedback controllers for the position and heading station keeping control of Unmanned Surface Vehicles (USVs). The performance of the controllers was experimentally tested using a 16 foot USV in an outdoor marine environment. The FF controller was combined with three nonlinear feedback controllers, a Proportional–Derivative (PD) controller, a Backstepping (BS) controller, and a Sliding mode (SM) controller, to improve the station-keeping performance of the USV. To address the problem of wind model uncertainties, adaptive wind feedforward (AFF) control schemes are also applied to the FF controller, and implemented together with the BS and SM feedback controllers. The adaptive law is derived using Lyapunov Theory to ensure stability. On-water station keeping tests of each combination of FF and feedback controllers were conducted in the U.S. Intracoastal Waterway in Dania Beach, FL USA. Five runs of each test condition were performed; each run lasted at least 10 minutes. The experiments were conducted in Sea State 1 with an average wind speed of between 1 to 4 meters per second and significant wave heights of less than 0.2 meters. When the performance of the controllers is compared using the Integral of the Absolute Error (IAE) of position criterion, the experimental results indicate that the BS and SM feedback controllers significantly outperform the PD feedback controller (e.g. a 33% and a 44% decreases in the IAE, respectively). It is also found that FF is beneficial for all three feedback controllers and that AFF can further improve the station keeping performance. For example, a BS feedback control combined with AFF control reduces the IAE by 25% when compared with a BS feedback controller combined with a non-adaptive FF controller. Among the eight combinations of controllers tested, SM feedback control combined with AFF control gives the best station keeping performance with an average position and heading error of 0.32 meters and 4.76 degrees, respectively.

Vehicular Ad Hoc Network (VANET) supports wireless communication among vehicles using vehicle-to-vehicle (V2V) communication and between vehicles and infrastructure using vehicle-to-infrastructure (V2I) communication. This communication can be utilized to allow the distribution of safety and non-safety messages in the network. VANET supports a wide range of applications which rely on the messages exchanged within the network. Such applications will enhance the drivers' consciousness and improve their driving experience. However, the efficiency of these applications depends on the availability of vehicles real-time location information. A number of methods have been proposed to fulfill this requirement. However, designing a V2V-based localization method is challenged by the high mobility and dynamic topology of VANET and the interference noise due to objects and buildings. Currently, vehicle localization is based on GPS technology, which is not always reliable. Therefore, utilizing V2V communication in VANET can enhance the GPS positioning. With V2V-based localization, vehicles can determine their locations by exchanging mobility data among neighboring vehicles. In this research work, we address the above challenges and design a realistic V2V-based localization method that extends the centroid localization (CL) by assigning a weight value to each neighboring vehicle. This weight value is obtained using a weighting function that utilizes the following factors: 1) link quality distance between the neighboring vehicles 2) heading information and 3) map information. We also use fuzzy logic to model neighboring vehicles' weight values. Due to the sensitivity and importance of the exchanged information, it is very critical to ensure its integrity and reliability. Therefore, in this work, we present the design and the integration of a mobility data verification component into the proposed localization method, so that only verified data from trusted neighboring vehicles are considered. We also use subjective logic to design a trust management system to evaluate the trustworthiness of neighboring vehicles based on the formulated subjective opinions. Extensive experimental work is conducted using simulation programs to evaluate the performance of the proposed methods. The results show improvement on the location accuracy for varying vehicle densities and transmission ranges as well as in the presence of malicious/untrusted neighboring vehicles.

Vehicular Ad hoc NETworks (VANETs) are a subclass of Mobile Ad hoc NETworks
and represent a relatively new and very active field of research. VANETs will enable in
the near future applications that will dramatically improve roadway safety and traffic
efficiency. There is a need to increase traffic efficiency as the gap between the traveled
and the physical lane miles keeps increasing. The Dynamic Traffic Assignment problem
tries to dynamically distribute vehicles efficiently on the road network and in accordance
with their origins and destinations. We present a novel dynamic decentralized and
infrastructure-less algorithm to alleviate traffic congestions on road networks and to fill
the void left by current algorithms which are either static, centralized, or require
infrastructure. The algorithm follows an online approach that seeks stochastic user
equilibrium and assigns traffic as it evolves in real time, without prior knowledge of the traffic demand or the schedule of the cars that will enter the road network in the future.
The Reverse Online Algorithm for the Dynamic Traffic Assignment inspired by Ant
Colony Optimization for VANETs follows a metaheuristic approach that uses reports from
other vehicles to update the vehicle’s perceived view of the road network and change route
if necessary. To alleviate the broadcast storm spontaneous clusters are created around
traffic incidents and a threshold system based on the level of congestion is used to limit
the number of incidents to be reported. Simulation results for the algorithm show a great
improvement on travel time over routing based on shortest distance. As the VANET
transceivers have a limited range, that would limit messages to reach at most 1,000 meters,
we present a modified version of this algorithm that uses a rebroadcasting scheme. This
rebroadcasting scheme has been successfully tested on roadways with segments of up to
4,000 meters. This is accomplished for the case of traffic flowing in a single direction on
the roads. It is anticipated that future simulations will show further improvement when
traffic in the other direction is introduced and vehicles travelling in that direction are
allowed to use a store carry and forward mechanism.