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Predictor-based adaptive cruise control design with integral action

Nikolaos Bekiaris-Liberis, Papageorgiou Markos, Roncoli Claudio

Πλήρης Εγγραφή


URI: http://purl.tuc.gr/dl/dias/830FD11A-9DCD-4F5D-A7CB-08CE2483E281
Έτος 2018
Τύπος Πλήρης Δημοσίευση σε Συνέδριο
Άδεια Χρήσης
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Εμφανίζεται στις Συλλογές

Περίληψη

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.

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