Predictor-Based Adaptive Cruise Control Design with Integral Action

Nikolaos Bekiaris-Liberis; Claudio Roncoli; Markos Papageorgiou

doi:10.1016/j.ifacol.2018.07.015

Predictor-Based Adaptive Cruise Control Design with Integral Action

Nikolaos Bekiaris-Liberis, Claudio Roncoli, Markos Papageorgiou

Technical University of Crete

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

4 Citations (Scopus)

Abstract

We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for compensation of long 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. 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 long input delay. The effectiveness of the developed control design is illustrated in simulation considering various performance metrics.

Original language	English
Title of host publication	15th IFAC Symposium on Control in Transportation Systems CTS 2018
Editors	Antonella Ferrara
Publisher	Elsevier
Pages	86-91
Number of pages	6
DOIs	https://doi.org/10.1016/j.ifacol.2018.07.015
Publication status	Published - 1 Jan 2018
MoE publication type	A4 Conference publication
Event	IFAC Symposium on Control in Transportation Systems - Savona, Italy Duration: 6 Jun 2018 → 8 Jun 2018 Conference number: 15

Publication series

Name	IFAC-PapersOnLine
Publisher	Elsevier Science Ltd (Pergamon)
Number	9
Volume	51
ISSN (Print)	2405-8963

Conference

Conference	IFAC Symposium on Control in Transportation Systems
Abbreviated title	CTS
Country/Territory	Italy
City	Savona
Period	06/06/2018 → 08/06/2018

Access to Document

10.1016/j.ifacol.2018.07.015

Cite this

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title = "Predictor-Based Adaptive Cruise Control Design with Integral Action",

abstract = "We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for compensation of long 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. 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 long input delay. The effectiveness of the developed control design is illustrated in simulation considering various performance metrics.",

author = "Nikolaos Bekiaris-Liberis and Claudio Roncoli and Markos Papageorgiou",

year = "2018",

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booktitle = "15th IFAC Symposium on Control in Transportation Systems CTS 2018",

address = "Netherlands",

note = "IFAC Symposium on Control in Transportation Systems, CTS ; Conference date: 06-06-2018 Through 08-06-2018",

}

Bekiaris-Liberis, N, Roncoli, C & Papageorgiou, M 2018, Predictor-Based Adaptive Cruise Control Design with Integral Action. in A Ferrara (ed.), 15th IFAC Symposium on Control in Transportation Systems CTS 2018. IFAC-PapersOnLine, no. 9, vol. 51, Elsevier, pp. 86-91, IFAC Symposium on Control in Transportation Systems, Savona, Italy, 06/06/2018. https://doi.org/10.1016/j.ifacol.2018.07.015

Predictor-Based Adaptive Cruise Control Design with Integral Action. / Bekiaris-Liberis, Nikolaos; Roncoli, Claudio; Papageorgiou, Markos.
15th IFAC Symposium on Control in Transportation Systems CTS 2018. ed. / Antonella Ferrara. Elsevier, 2018. p. 86-91 (IFAC-PapersOnLine; Vol. 51, No. 9).

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Predictor-Based Adaptive Cruise Control Design with Integral Action

AU - Bekiaris-Liberis, Nikolaos

AU - Roncoli, Claudio

AU - Papageorgiou, Markos

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N2 - We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for compensation of long 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. 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 long input delay. The effectiveness of the developed control design is illustrated in simulation considering various performance metrics.

AB - We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for compensation of long 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. 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 long input delay. The effectiveness of the developed control design is illustrated in simulation considering various performance metrics.

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DO - 10.1016/j.ifacol.2018.07.015

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Predictor-Based Adaptive Cruise Control Design with Integral Action

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