Predictor-Based Adaptive Cruise Control Design with Integral Action

Nikolaos Bekiaris-Liberis, Claudio Roncoli, Markos Papageorgiou

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

3 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 languageEnglish
Title of host publication15th IFAC Symposium on Control in Transportation Systems CTS 2018
EditorsAntonella Ferrara
PublisherElsevier
Pages86-91
Number of pages6
DOIs
Publication statusPublished - 1 Jan 2018
MoE publication typeA4 Article in a conference publication
EventIFAC Symposium on Control in Transportation Systems - Savona, Italy
Duration: 6 Jun 20188 Jun 2018
Conference number: 15

Publication series

NameIFAC-PapersOnLine
PublisherElsevier Science Ltd (Pergamon)
Number9
Volume51
ISSN (Print)2405-8963

Conference

ConferenceIFAC Symposium on Control in Transportation Systems
Abbreviated titleCTS
Country/TerritoryItaly
CitySavona
Period06/06/201808/06/2018

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