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.
|Journal||IEEE Transactions on Intelligent Transportation Systems|
|Early online date||5 Dec 2017|
|Publication status||Published - Oct 2018|
|MoE publication type||A1 Journal article-refereed|
- adaptive cruise control
- Control design
- delay systems
- Numerical stability
- Predictor feedback
- Stability criteria
- string stability.