Predictor-Based Adaptive Cruise Control Design
Research output: Contribution to journal › Article › Scientific › peer-review
- Technical University of Crete
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|
- Acceleration, Actuators, adaptive cruise control, Control design, delay systems, Delays, Numerical stability, Predictor feedback, Stability criteria, string stability.