Predictor-Based Adaptive Cruise Control Design

Nikolaos Bekiaris-Liberis, Claudio Roncoli, Markos Papageorgiou

Research output: Contribution to journalArticleScientificpeer-review

6 Citations (Scopus)


We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for the compensation of large actuator and sensor delays in vehicular systems utilizing measurements of the relative spacing as well as of the speed and the short-term history of the desired acceleration of the ego vehicle. By employing an input-output approach, we show that the predictor-based adaptive cruise control law with integral action guarantees all of the four typical performance specifications of adaptive cruise control designs, namely, 1) stability, 2) zero steady-state spacing error, 3) string stability, and 4) non-negative impulse response, despite the large input delay. The effectiveness of the developed control design is shown in simulation considering various performance metrics.

Original languageEnglish
Pages (from-to)3181-3195
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number10
Early online date5 Dec 2017
Publication statusPublished - Oct 2018
MoE publication typeA1 Journal article-refereed


  • Acceleration
  • Actuators
  • adaptive cruise control
  • Control design
  • delay systems
  • Delays
  • Numerical stability
  • Predictor feedback
  • Stability criteria
  • string stability.

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