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

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PARSA A.; FARHADI A.

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Journal Paper

Paper Information

Journal: Scientia Iranica Year:2021 | Volume:28 | Issue:3 (Transactions D: Computer Science and Engineering and Electrical Engineering) Page(s): 1592-1605

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Information Journal Paper

Title

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

Author(s)

PARSA A. | FARHADI A. | Issue Writer Certificate

Keywords

Networked control system

Tele-operation system

The describing function

The unicycle model

AWGN channel

Abstract

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 lter 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.

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APA: Copy

PARSA, A., & FARHADI, A.. (2021). Tele-operation of autonomous vehicles over additive white Gaussian noise channel. SCIENTIA IRANICA, 28(3 (Transactions D: Computer Science and Engineering and Electrical Engineering)), 1592-1605. SID. https://sid.ir/paper/978187/en

Vancouver: Copy

PARSA A., FARHADI A.. Tele-operation of autonomous vehicles over additive white Gaussian noise channel. SCIENTIA IRANICA[Internet]. 2021;28(3 (Transactions D: Computer Science and Engineering and Electrical Engineering)):1592-1605. Available from: https://sid.ir/paper/978187/en

IEEE: Copy

A. PARSA, and A. FARHADI, “Tele-operation of autonomous vehicles over additive white Gaussian noise channel,” SCIENTIA IRANICA, vol. 28, no. 3 (Transactions D: Computer Science and Engineering and Electrical Engineering), pp. 1592–1605, 2021, [Online]. Available: https://sid.ir/paper/978187/en

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