1. Predictor-Based Adaptive Cruise Control Design
- Author
-
Bekiaris-Liberis Nikolaos, Papageorgiou Markos, and Roncoli Claudio
- Subjects
Engineering ,0209 industrial biotechnology ,Stability criteria ,Computer science ,Acceleration ,02 engineering and technology ,Transfer function ,Stability (probability) ,String stability ,Predictor feedback ,string stability ,Road vehicles ,Compensation (engineering) ,020901 industrial engineering & automation ,Control theory ,0502 economics and business ,Delays ,delay systems ,Cruise control ,Impulse response ,ta113 ,050210 logistics & transportation ,business.industry ,adaptive cruise control ,Mechanical Engineering ,05 social sciences ,String (computer science) ,Numerical stability ,Adaptive control ,Control engineering ,Control system synthesis ,Computer Science Applications ,Adaptive cruise control ,Arbitrarily large ,Automotive Engineering ,business ,Actuator ,Stability ,Compensation ,Actuators ,Control design - Abstract
Summarization: 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. Presented on: IEEE Transactions on Intelligent Transportation Systems
- Published
- 2018