Institutional Repository
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/8E37D99E-7CF7-46F1-9D96-B6B431417DF3 | ||
| Year | 2024 | ||
| Type of Item | Diploma Work | ||
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| Bibliographic Citation | Michail Alakiozidis, "Simulation-based assessment of robustness of predictor feedback cooperative adaptive cruise control to saturation of control input and input delay perturbations.", Diploma Work, School of Electrical and Computer Engineering, Technical University of Crete, Chania, Greece, 2024 https://doi.org/10.26233/heallink.tuc.101187 | ||
| Appears in Collections |
In recent decades, the rate of development of transportation systems and their widespread use by citizens have created countless problems in people's lives, either due to accidents on the roads or due to lost time caused by excessive traffic congestion. This thesis addresses the evolution of communication systems between vehicles, aiming to improve the road network as well as the development of automated driving control systems. After discussing older systems, it focuses on the most advanced one (Cooperative Adaptive Cruise Control) with the goal of ensuring the stability and robustness of a vehicle string. It also refers to the use of the predictor feedback Cooperative Adaptive Cruise Control system in homogeneous systems. Each vehicle is described by a second-order linear system related to the desired acceleration, which is transmitted from vehicle to vehicle and is derived only from the preceding vehicle, as well as the distance between two vehicles. The proofs are based on a combination of input-output approach and the generation of estimates in clear, closed-loop solutions under specific, sufficient conditions that arise from initial conditions and parameters of the basic Constant Time Headway (CTH) controller. In this way, examples were presented through simulations, demonstrating the robustness and stability of a vehicle string, as well as the avoidance of collisions under certain conditions using the predictor feedback Cooperative Adaptive Cruise Control (CACC) system.
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