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Predictor-based adaptive cruise control design with integral action

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Predictor-based adaptive cruise control design with integral action (EN)
Μπεκιαρης-Λυμπερης Νικολαος (EL)
Παπαγεωργιου Μαρκος (EL)
Roncoli Claudio (EL)
Bekiaris-Liberis Nikolaos (EN)
Papageorgiou Markos (EN)
Roncoli Claudio (EN)
full paper
conferenceItem
2018
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. (EN)
Predictor feedback (EN)
Adaptive cruice control (EN)
15th IFAC Symposium on Control in Transportation Systems CTS 2018 (EL)
English
Elsevier (EN)
Πολυτεχνείο Κρήτης (EL)
Technical University of Crete (EN)
Technical University of Crete
Institutional Repository Technical University of Crete
School of Chemical and Environmental Engineering - Conference Publications



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