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Predictor-based adaptive cruise control design

Bekiaris-Liberis Nikolaos, Roncoli Claudio, Papageorgiou Markos

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URI: http://purl.tuc.gr/dl/dias/43234421-2BF5-4297-8635-DE8355F6F3A9
Year 2016
Type of Item Conference Full Paper
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Summary

We develop a predictor-based adaptive cruise control design for compensation of arbitrarily large actuator and sensor delays in vehicular systems utilizing measurements of the relative spacing as well as of the speed and acceleration ofeach individual vehicular system. Employing an input-output approach we prove that the predictor-based adaptive cruise control law guarantees string stability of platoons of vehicular systems (under a constant time-headway policy) for any delay value. The effectiveness of the developed control design is illustrated in simulation.

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