Predictor-based adaptive cruise control design
(EN)
Μπεκιαρης-Λυμπερης Νικολαος
(EL)
Παπαγεωργιου Μαρκος
(EL)
Roncoli Claudio
(EL)
Bekiaris-Liberis Nikolaos
(EN)
Papageorgiou Markos
(EN)
Roncoli Claudio
(EN)
Πολυτεχνείο Κρήτης
(EL)
Technical University of Crete
(EN)
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.
(EN)