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Predictor-based adaptive cruise control design with integral action

Bekiaris-Liberis Nikolaos, Papageorgiou Markos, Roncoli Claudio

Απλή Εγγραφή


URIhttp://purl.tuc.gr/dl/dias/830FD11A-9DCD-4F5D-A7CB-08CE2483E281-
Αναγνωριστικόhttps://doi.org/10.1016/j.ifacol.2018.07.015-
Γλώσσαen-
Μέγεθος6 pagesen
ΤίτλοςPredictor-based adaptive cruise control design with integral actionen
ΔημιουργόςBekiaris-Liberis Nikolaosen
ΔημιουργόςΜπεκιαρης-Λυμπερης Νικολαοςel
ΔημιουργόςPapageorgiou Markosen
ΔημιουργόςΠαπαγεωργιου Μαρκοςel
ΔημιουργόςRoncoli Claudioen
ΔημιουργόςRoncoli Claudioel
ΕκδότηςElsevieren
ΠεριγραφήNikolaos Bekiaris-Liberis was supported by the funding from the European Unions Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 747898, project PADECOT. Claudio Roncoli and Markos Papageorgiou were supported by the funding from the European Research Council under the European Union’s Seventh Framework Programme (FP/2007- 2013) / ERC Grant Agreement n. [321132], project TRAMAN21.en
ΠερίληψηWe 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
ΤύποςΠλήρης Δημοσίευση σε Συνέδριοel
ΤύποςConference Full Paperen
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by/4.0/en
Ημερομηνία2018-08-02-
Ημερομηνία Δημοσίευσης2018-
Θεματική ΚατηγορίαAdaptive cruice controlen
Θεματική ΚατηγορίαPredictor feedbacken
Βιβλιογραφική ΑναφοράN. Bekiaris-Liberis, C. Roncoli, and M. Papageorgiou, "Predictor-based adaptive cruise control design with integral action," IFAC Symposium on Control in Transportation Systems, 2018. doi.org/10.1016/j.ifacol.2018.07.015en

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